Title :
Research of Path Planning for Polishing Robot Based on Improved Genetic Algorithm
Author :
Guo, Tong-ying ; Qu Dao-kui ; Dong, Zai-li
Author_Institution :
Shenyang Inst. of Autom., Chinese Acad. of Sci., Beijing
Abstract :
The path planning for traditional polishing robot is teach-play-back method. That is, after adjusting offset errors, the polishing robot repeats the same fixed program in a pre-determined path. Obviously, fixed program makes transferring the robot to new operations difficult. In this paper, the path planning schemes based on improved genetic algorithm (IGA) are proposed. The encoding ways, crossover operator and mutation operator of genetic algorithm (GA) are researched. Simulation shows that this method of path planning for polishing robot is effective
Keywords :
genetic algorithms; industrial robots; path planning; polishing; robot programming; crossover operator; heuristic search; improved genetic algorithm; mutation operator; path planning; polishing robot; teach-play-back method; Civil engineering; Electronic mail; Genetic algorithms; Genetic mutations; Intelligent robots; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; genetic algorithm; heuristic search; path planning; polishing robot;
Conference_Titel :
Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on
Conference_Location :
Shenyang
Print_ISBN :
0-7803-8614-8
DOI :
10.1109/ROBIO.2004.1521800
