A Collision-Free Trajectory Planning of a hyper redundant Manipulator Using a Dual Genetic Algorithm

Document Type : Research Article

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Abstract

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.

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References

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Amirkabir Journal of Mechanical Engineering
Volume 41, Issue 1 - Serial Number 1
September 2010
Pages 39-47

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