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

Volume

1

fYear

2006

fDate

Nov. 2006

Firstpage

262

Lastpage

265

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICCIAS.2006.294133

Filename

4072086