• DOI:10.1109/ROBOT.1995.525631
• Corpus ID: 45474361

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, +1 author 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 experiments show the effectiveness of the proposed method.