Motion Planning for a Robot Arm by Using Genetic Algorithm 1.0 |
Date Added: May 10, 2013 | Visits: 631 |
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This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link (redundant) robotarm. The objective function for the proposed GA is to minimizing traveling time and space, while not exceeding a maximumpre-defined torque, without collision with any obstacle in the robot workspace. Quadrinomial and quintic polynomials areused to describe the segments that connect initial, intermediate, and final point at joint-space. Direct kinematics has been usedfor avoiding the singular configurations of the robot arm. To watch the paper which code made for it, follow this link.http://jjmie.hu.edu.jo/files/JJMIE-V2-N3-press/2(16-21).pdf
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License: Freeware | Size: 1.33 MB |
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