A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM

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GHAYOUR M.; KARIMI MAHMOUD

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR) Year:2009 | Volume:41 | Issue:1 Page(s): 39-47

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Information Journal Paper

Title

A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM

Author(s)

GHAYOUR M. | KARIMI MAHMOUD | Issue Writer Certificate

Keywords

PATH PLANNINGQ3

HYPER-REDUNDANT MANIPULATORQ3

DUAL GENETIC ALGORITHMQ3

COLLISION-FREE CONDITIONQ3

Abstract

This paper presents an optimal PATH PLANNING ~for planar hyper redundant robot manipulators in presence of circular obstacles with a new analytical collision avoidance approach. To generate the robot's trajectory, a DUAL GENETIC ALGORITHM for rapid achievement to the optimal solutions in complex space is offered. A polynomial based on cubic spline interpolation? is applied to approximate trajectories in joint space. The GA determines the parameters, which are the interior points to be interpolated to formulate the polynomial representing the trajectory, it is to minimize the fitness of the desired objective function. The effectiveness and capability of the proposed approach is demonstrated through simulation studies.

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APA: Copy

GHAYOUR, M., & KARIMI, MAHMOUD. (2009). A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM. JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR), 41(1), 39-47. SID. https://sid.ir/paper/165906/en

Vancouver: Copy

GHAYOUR M., KARIMI MAHMOUD. A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM. JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR)[Internet]. 2009;41(1):39-47. Available from: https://sid.ir/paper/165906/en

IEEE: Copy

M. GHAYOUR, and MAHMOUD KARIMI, “A COLLISION-FREE TRAJECTORY PLANNING OF A HYPER REDUNDANT MANIPULATOR USING A DUAL GENETIC ALGORITHM,” JOURNAL OF MECHANICAL ENGINEERING AMIRKABIR (AMIRKABIR), vol. 41, no. 1, pp. 39–47, 2009, [Online]. Available: https://sid.ir/paper/165906/en

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