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Motion planning by genetic algorithm for a redundant manipulator using an evaluation function based on criteria of skilled operators

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4 Author(s)
Shibata, T. ; Mech. Eng. Lab., MITI, Japan ; Abe, T. ; Tanie, K. ; Nose, M.

This paper proposes a motion planning method to cut a three dimensional workpiece by a redundant manipulator with six degrees of freedom. The method applies a genetic algorithm to optimize the rotational angles of the end-effector on a path. For a fitness function, an evaluation function is defined based on references from skilled operators. The proposed method reduces the operator's labor, so that he only has to determine a path without considering redundant parameters. Both simulations and experiments show the effectiveness of the proposed method

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995