Title :
Obstacle Avoiding Research on the Manipulator Based on Genetic Algorithm
Author :
Lei-ping, Xi ; Zi-li, Chen ; Shao-jie, Sun
Author_Institution :
Dept. of Opt. & Electrics Eng., Ordnance Eng. Coll., Shijiazhuang, China
Abstract :
A method is put forward to avoid obstacles for a robot manipulator. Firstly, the inverse kinematics solutions of manipulator is simplified, based on which the obstacle avoidance path planning of manipulator is transformed into constrained optimization solution problem. Secondly, each joint angle is given according to the inverse kinematics solutions of manipulator with genetic algorithm. Collisions between manipulator and obstacle are avoided for each trajectory. Effectiveness of the improved algorithm is verified by simulation.
Keywords :
collision avoidance; genetic algorithms; manipulator kinematics; collision avoidance; constrained optimization solution; genetic algorithm; inverse kinematics solutions; obstacle avoidance research; path planning; robot manipulator; Collision avoidance; Genetic algorithms; Joints; Manipulators; Optimization; Path planning; genetic algorithm; inversekinematics; manipulator; obstacle avoidance;
Conference_Titel :
Instrumentation, Measurement, Computer, Communication and Control, 2011 First International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-0-7695-4519-6
DOI :
10.1109/IMCCC.2011.218
