제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.698-702
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- 1992
Planning a minimum time path for robot manipulator using genetic algorithm
유전알고리즘을 이용한 로보트 매니퓰레이터의 최적 시간 경로 계획
- Kim, Yong-Hoo (Dept. of Electronic Engineering Chung-Ang University) ;
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Kang, Hoon
(Dept. of Electronic Engineering Chung-Ang University) ;
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Jeon, Hong-Tae
(Dept. of Electronic Engineering Chung-Ang University)
- Published : 1992.10.01
Abstract
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.
Keywords