Fuzzy-GA-based trajectory planner for robot manipulators sharing a common workspace

This paper presents a novel fuzzy genetic algorithm (GA) approach to tackling the problem of trajectory planning of two collaborative robot manipulators sharing a common workspace, where the manipulators have to consider each other as a moving obstacle whose trajectory or behaviour is unknown and unpredictable, as each manipulator has individual goals and where both have the same priority. The goals are not restricted to a given set of joint values, but are specified in the workspace as coordinates at which it is desired to place the end-effector of the manipulator. By not constraining the goal to the joint space, the number of possible solutions that satisfies the goal increases according to the number of degrees of freedom of the manipulators. A simple GA planner is used to produce an initial estimation of the movements of the robots´ articulations and collision free motion is obtained by the corrective action of the collision-avoidance fuzzy units