엘리트 유전알고리즘을 이용한 비젼 기반 로봇의 위치제어

Vision based position control of manipulator using an elitist genetic algorithm

A new approach to the task of aligning a robot using camera is presented in this paper. We apply an elitist GA to find the joints angles of manipulator to reach target position instead of using nonlinear least error method. Since it employs parallel search and have good performance in solving optimization problems. In order to improve convergence speed, the floating coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using elitist genetic algorithm.