Title :
A New Trajectory Planning Method of Redundant Manipulator Based on Adaptive Simulated Annealing Genetic Algorithm (ASAGA)
Author :
Peng, Yonggang ; Wei, Wei
Author_Institution :
Coll. of Electr. Eng., Zhejiang Univ., Hangzhou
Abstract :
In this paper, the adaptive simulated annealing genetic algorithm (ASAGA) is presented by integrating the advantages of adaptive mechanics, simulated annealing algorithm and simple genetic algorithm (SGA). More successful result is got in manipulator trajectory planning using ASAGA compared with simple genetic algorithm. The experiment results show that the method can be used in manipulator trajectory planning effectively and will shed new light on how to bring the redundancy into full play to improve the movement of manipulator
Keywords :
genetic algorithms; path planning; position control; redundant manipulators; simulated annealing; adaptive simulated annealing genetic algorithm; redundant manipulator; trajectory planning; Convergence; Educational institutions; Genetic algorithms; Genetic mutations; Manipulators; Robotics and automation; Simulated annealing; Stochastic processes; Temperature; Trajectory; Adaptive Simulated Annealing-genetic Algorithm (ASAGA); Genetic algorithm; Joints´ Compliance; Manipulator; Optimization;
Conference_Titel :
Computational Intelligence and Security, 2006 International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
1-4244-0605-6
Electronic_ISBN :
1-4244-0605-6
DOI :
10.1109/ICCIAS.2006.294133
