Skill based motion planning of a redundant manipulator by genetic algorithm

The paper proposes a modeling method of criteria of skilled operators for motion planning of a redundant manipulator in industrial applications. The method employs Fuzzy ID3 to extract important factors with certainties from the criteria and GMDH (group method of data handling) to model it to evaluate motion plans. Then it applies a genetic algorithm to optimize redundancy of a manipulator. The proposed method reduces the operator´s labor and time for task teaching process thus a path, without considering redundant parameters, only needs to be determined. Experimental results show the effectiveness of the proposed method