Iterative genetic algorithm based strategy for obstacles avoidance of a redundant manipulator

Authors:
Cornel Secară;Luige Vlădăreanu
Affiliations:
Institute of Solid Mechanics of Romanian Academy, Robotics-Mechatronics Group, Bucharest, Romania;Institute of Solid Mechanics of Romanian Academy, Robotics-Mechatronics Group, Bucharest, Romania
Venue:
AMERICAN-MATH'10 Proceedings of the 2010 American conference on Applied mathematics
Year:
2010

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Iterative strategies for obstacle avoidance of a redundant manipulator

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Abstract

This paper presents a strategy for obstacles avoidance of a redundant manipulator based on an iterative genetic algorithm. The objective of the strategy is to simultaneously minimize the end-effector location error and the manipulator total joint displacement while the collision with the obstacles is avoided. The end-effector task consists in generating the references along the contour of a curve. The proposed strategy is iterative in the sense that the joint configuration computed in the previous step represents the current point around which the genetic algorithm finds the next joint configuration. The strategy is implemented using the genetic algorithm tool of Matlab software and the illustrative simulations are obtained for a planar redundant manipulator with four degrees of freedom and with its end-effector following the contour of a circle, whose surface is considered to be restrictive for all elements of the manipulator.