Motion planning for a redundant manipulator by genetic algorithm

A motion planning method is proposed for cutting 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. Using the proposed method the operator only has to determine a path without considering the redundant parameters. Simulations show the effectiveness of the proposed method.<>