Motion Planning for a Robot Arm by Using Genetic Algorithm

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

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