Motion planning of a redundant manipulator-criteria of skilled operators by fuzzy-ID3 and GMDH and optimization by GA

This 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 from the criteria and GMDH (group method of data handling) to model them to evaluate motion plans. Then, it applies a genetic algorithm to optimize redundancy of the manipulator. The proposed method reduces the operator´s labor and time for the task teaching process, so that he only has to determine a path without considering redundant parameters. Experimental results show the effectiveness of the proposed method