Exploiting monotony on a genetic algorithm based trajectory planner (GABTP) for robot manipulators

E. A. Merchán-Cruz, L. H. Hernández-Gómez, A. T. Velázquez-Sánchez, E. Lugo-González, G. Urriolagoitia-Sosa

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper presents an optimization of a Genetic Algorithm (GA) based trajectory planner (GABTP), exploiting the inherent monotony in the trajectories described by serial robotic manipulators, implementing a Forced Inheritance Mechanism (FIM). The approach described in this paper successfully solves both, non-redundant and redundant planar manipulators of 2, 3 and 7 degrees of freedom. The workspace of the manipulators is initially considered to be homogeneous and free form any obstacle and it is later extended to consider static obstacles. The trajectory planning is performed directly into the workspace of the manipulator in order to take full advantage of the natural dexterity of the open kinematic chain configuration, as opposed to solving the problem in the joint space, where the solution is constrained to a desired configuration. The fitness function for the GA is based on a modified potential field representation of the obstacles by considering the reach of the manipulator. The GABTP finds the best sets of configurations which drives the manipulator smoothly to its specified goal in workspace whilst preventing it from colliding with the obstacles.

Original languageEnglish
Title of host publicationProceedings of the 16th IASTED International Conference on Applied Simulation and Modelling, ASM 2007
Pages300-305
Number of pages6
StatePublished - 2007
Event16th IASTED International Conference on Applied Simulation and Modelling, ASM 2007 - Palma de Mallorca, Spain
Duration: 29 Aug 200731 Aug 2007

Publication series

NameProceedings of the 16th IASTED International Conference on Applied Simulation and Modelling, ASM 2007

Conference

Conference16th IASTED International Conference on Applied Simulation and Modelling, ASM 2007
Country/TerritorySpain
CityPalma de Mallorca
Period29/08/0731/08/07

Keywords

  • Genetic algorithms
  • Monotony
  • Robot manipulators
  • Trajectory planning

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