Title :
Optimize path planning of a planar parallel robot to avoid obstacle collision using genetic algorithm
Author :
Danesh, M. ; Abazari, Mohammad Rasoul
Author_Institution :
Dept. of Mech. Eng., Isfahan Univ. of Technol., Isfahan, Iran
Abstract :
In this paper a new approach to optimize the path of a 3-RRR planar robot is studied. A reforming polynomial is utilized to refine the path of robot when robot faces an obstacle on its way. A genetic algorithm optimization process is used to denote the end-effector position at any time. In this method design of a continuous and smooth motion was noticed, so the actuators remain healthy. Also some examples are presented to exhibit the performance of the proposed approach.
Keywords :
actuators; collision avoidance; end effectors; genetic algorithms; polynomials; 3-RRR planar robot; actuators; continuous motion design; end-effector position; genetic algorithm; obstacle collision avoidance; path optimization; path planning; planar parallel robot; reforming polynomial; robot path refinement; smooth motion design; Actuators; Collision avoidance; Genetic algorithms; Kinematics; Parallel robots; Path planning; genetic algorithm; parallel planar robot; path planning;
Conference_Titel :
Intelligent Systems (ICIS), 2014 Iranian Conference on
Conference_Location :
Bam
Print_ISBN :
978-1-4799-3350-1
DOI :
10.1109/IranianCIS.2014.6802572
