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}
}
  • T. Shibata, T. Abe, M. Nose
  • Published 21 May 1995
  • Engineering
  • Proceedings of 1995 IEEE International Conference on Robotics and Automation
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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