Motion planning of a redundant manipulator-modeling of criteria of skilled operators and global optimization of redundancy

This paper proposes a modeling method of criteria of skilled operators for motion planning of a redundant manipulator in industrial applications. The method employs fuzzy-ID3 to extract important factors with certainties from the criteria and GMDH (group method of data handling) to model it to evaluate motion plans. Then, it applies a genetic algorithm to optimize redundancy of a manipulator. The proposed method reduces the operator's labor and time for task teaching process thus a path, without considering redundant parameters, only needs to be determined. Experimental results show the effectiveness of the proposed method.