Motion planning by genetic algorithm for a redundant manipulator using an evaluation function based on criteria of skilled operators
@article{Shibata1995MotionPB, title={Motion planning by genetic algorithm for a redundant manipulator using an evaluation function based on criteria of skilled operators}, author={Takanori Shibata and Tamotsu Abe and Kazuo Tanie and Matsuo Nose}, journal={Proceedings of 1995 IEEE International Conference on Robotics and Automation}, year={1995}, volume={3}, pages={2476-2481 vol.3} }
This paper proposes a motion planning method to cut a three dimensional workpiece by a redundant manipulator with six degrees of freedom. The method applies a genetic algorithm to optimize the rotational angles of the end-effector on a path. For a fitness function, an evaluation function is defined based on references from skilled operators. The proposed method reduces the operator's labor, so that he only has to determine a path without considering redundant parameters. Both simulations and…
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