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Motion Planning for a Robot Arm by Using Genetic Algorithm

13 Mar 2009

genetic algorithm is used to optimize the trajectory planning for robot arm.

File Information
Description	This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link (redundant) robot arm. The objective function for the proposed GA is to minimizing traveling time and space, while not exceeding a maximum pre-defined torque, without collision with any obstacle in the robot workspace. Quadrinomial and quintic polynomials are used to describe the segments that connect initial, intermediate, and final point at joint-space. Direct kinematics has been used for avoiding the singular configurations of the robot arm. To watch the paper which code made for it, follow this link. http://jjmie.hu.edu.jo/files/JJMIE-V2-N3-press/2(16-21).pdf
MATLAB release	MATLAB 7 (R14)
Zip File Content
Other Files	robot motion planning/matlab code/aliwork.fig, robot motion planning/matlab code/aliwork.m, robot motion planning/matlab code/angls2links.m, robot motion planning/matlab code/angls2links2.m, robot motion planning/matlab code/cross_singlepoint.m, robot motion planning/matlab code/fitnesstra2f.m, robot motion planning/matlab code/fitnesstra2ob.m, robot motion planning/matlab code/fitnesstra3f.m, robot motion planning/matlab code/fitnesstra3ob.m, robot motion planning/matlab code/fobstacle.m, robot motion planning/matlab code/fobstacle2.m, robot motion planning/matlab code/forkin.m, robot motion planning/matlab code/forkin3.m, robot motion planning/matlab code/ftorque.m, robot motion planning/matlab code/ftorque3.m, robot motion planning/matlab code/invkin.m, robot motion planning/matlab code/invkin3.m, robot motion planning/matlab code/invkini.m, robot motion planning/matlab code/mutate1.m, robot motion planning/matlab code/Read me.txt, robot motion planning/matlab code/recor.m, robot motion planning/matlab code/recor2.m, robot motion planning/matlab code/torque.m, robot motion planning/matlab code/torque3.m, robot motion planning/matlab code/trajectory_planning2f.m, robot motion planning/matlab code/trajectory_planning2ob.m, robot motion planning/matlab code/trajectory_planning3f.m, robot motion planning/matlab code/trajectory_planning3ob.m, robot motion planning/matlab code/trajt.m, robot motion planning/matlab code/trajt3.m, robot motion planning/presentation/Movie_1.wmv, robot motion planning/presentation/presentation.pps

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Everyone's Tags	optimization, simulation
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Tag	Applied By	Date/Time
optimization	Ali Talib Oudah	16 Mar 2009 12:45:04
simulation	Ali Talib Oudah	16 Mar 2009 12:45:05

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