Trajectory planning for redundant manipulator using evolutionary computation technique

S. Parasuraman, Chiew Mun Hou, Sai Cheong Fok

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The trajectory planning of kinematically redundant manipulator is a key area of research that requires efficient optimization algorithms. This paper presents a new method that combines multiple objectives for the trajectory planning of robots with redundant degrees of freedom. The proposed technique combines Genetic Algorithm (GA) with a collision detection scheme to find the shortest and smoothest trajectory for a robot to move from a given initial point to a target location while avoiding obstacles. The evaluation function is based on the total linear displacement of end-effector and total angular displacement of joints with uniformity Cartesian and joint space velocities. The proposed approach is analyzed with three different working environments and the results indicated that the scheme can perform as well if not better than the collision detection and target finding method.

Original languageEnglish
Title of host publication2011 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2011 - Proceedings
Pages414-419
Number of pages6
DOIs
Publication statusPublished - 2011
Externally publishedYes
Event2011 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2011 - Binjiang, Hangzhou, China
Duration: May 10 2011May 12 2011

Publication series

NameConference Record - IEEE Instrumentation and Measurement Technology Conference
ISSN (Print)1091-5281

Other

Other2011 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2011
CountryChina
CityBinjiang, Hangzhou
Period5/10/115/12/11

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Keywords

  • Collision detection
  • Genetic algorithm
  • Kinematics
  • Robotics
  • Trajectory Planning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Parasuraman, S., Hou, C. M., & Fok, S. C. (2011). Trajectory planning for redundant manipulator using evolutionary computation technique. In 2011 IEEE International Instrumentation and Measurement Technology Conference, I2MTC 2011 - Proceedings (pp. 414-419). [5944362] (Conference Record - IEEE Instrumentation and Measurement Technology Conference). https://doi.org/10.1109/IMTC.2011.5944362