Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 41 1 2009 08 23 A Collision-Free Trajectory Planning of a hyper redundant Manipulator Using a Dual Genetic Algorithm A Collision-Free Trajectory Planning of a hyper redundant Manipulator Using a Dual Genetic Algorithm 39 47 255 10.22060/mej.2009.255 FA Mostafa Ghayour Mahmoud Karimi Journal Article 2014 03 16 This paper presents an optimal path planning for planar hyper redundant robot manipulators in presence of circular obstacles with a new analytical collision avoidance approach. To generate the robot’s trajectory, a dual genetic algorithm for rapid achievement to the optimal solutions in complex space is offered. A polynomial based on cubic spline interpolation is applied to approximate trajectories in joint space. The GA determines the parameters, which are the interior points to be interpolated to formulate the polynomial representing the trajectory, it is to minimize the fitness of the desired objective function. The effectiveness and capability of the proposed approach is demonstrated through simulation studies. This paper presents an optimal path planning for planar hyper redundant robot manipulators in presence of circular obstacles with a new analytical collision avoidance approach. To generate the robot’s trajectory, a dual genetic algorithm for rapid achievement to the optimal solutions in complex space is offered. A polynomial based on cubic spline interpolation is applied to approximate trajectories in joint space. The GA determines the parameters, which are the interior points to be interpolated to formulate the polynomial representing the trajectory, it is to minimize the fitness of the desired objective function. The effectiveness and capability of the proposed approach is demonstrated through simulation studies. https://mej.aut.ac.ir/article_255_fe131d7f5a6b38b23cc967316c13dae2.pdf