제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Planning a minimum time path for robot manipulator using genetic algorithm

  • 김용호 (중앙대학교 공과대학 전자공학과) ;
  • 강훈 (중앙대학교 공과대학 전자공학과) ;
  • 전홍태 (중앙대학교 공과대학 전자공학과)
  • Kim, Yong-Hoo (Dept. of Electronic Engineering Chung-Ang University) ;
  • Kang, Hoon (Dept. of Electronic Engineering Chung-Ang University) ;
  • Jeon, Hong-Tae (Dept. of Electronic Engineering Chung-Ang University)
  • 발행 : 1992.10.01
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초록

In this paper, Micro-Genetic algorithms(.mu.-GAs) is proposed on a minimum-time path planning for robot manipulator, which is a kind of optimization algorithm. The minimum-time path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computation burden and can't often find the optimal values. One way to overcome such difficulties is to apply the Micro-Genetic Algorithms, which can allow to find the optimal values, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Micro-Genetic Algorithms. The effectiveness of the proposed method is demonstrated using the 2 d.o.f plannar Robot manipulator.

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