Optimize path planning of a planar parallel robot to avoid obstacle collision using genetic algorithm

In this paper a new approach to optimize the path of a 3-RRR planar robot is studied. A reforming polynomial is utilized to refine the path of robot when robot faces an obstacle on its way. A genetic algorithm optimization process is used to denote the end-effector position at any time. In this method design of a continuous and smooth motion was noticed, so the actuators remain healthy. Also some examples are presented to exhibit the performance of the proposed approach.