DocumentCode
3350551
Title
Obstacle Avoiding Research on the Manipulator Based on Genetic Algorithm
Author
Lei-ping, Xi ; Zi-li, Chen ; Shao-jie, Sun
Author_Institution
Dept. of Opt. & Electrics Eng., Ordnance Eng. Coll., Shijiazhuang, China
fYear
2011
fDate
21-23 Oct. 2011
Firstpage
865
Lastpage
867
Abstract
A method is put forward to avoid obstacles for a robot manipulator. Firstly, the inverse kinematics solutions of manipulator is simplified, based on which the obstacle avoidance path planning of manipulator is transformed into constrained optimization solution problem. Secondly, each joint angle is given according to the inverse kinematics solutions of manipulator with genetic algorithm. Collisions between manipulator and obstacle are avoided for each trajectory. Effectiveness of the improved algorithm is verified by simulation.
Keywords
collision avoidance; genetic algorithms; manipulator kinematics; collision avoidance; constrained optimization solution; genetic algorithm; inverse kinematics solutions; obstacle avoidance research; path planning; robot manipulator; Collision avoidance; Genetic algorithms; Joints; Manipulators; Optimization; Path planning; genetic algorithm; inversekinematics; manipulator; obstacle avoidance;
fLanguage
English
Publisher
ieee
Conference_Titel
Instrumentation, Measurement, Computer, Communication and Control, 2011 First International Conference on
Conference_Location
Beijing
Print_ISBN
978-0-7695-4519-6
Type
conf
DOI
10.1109/IMCCC.2011.218
Filename
6154244
Link To Document