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

fYear

2004

fDate

22-26 Aug. 2004

Firstpage

334

Lastpage

338

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2004. ROBIO 2004. IEEE International Conference on

Conference_Location

Shenyang

Print_ISBN

0-7803-8614-8

Type

conf

DOI

10.1109/ROBIO.2004.1521800

Filename

1521800