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Motion Planning for a Robot Arm by Using Genetic Algorithm


Ali Talib Oudah (view profile)


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

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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.

MATLAB release MATLAB 7 (R14)
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25 Dec 2013 Ahmed

Ahmed (view profile)


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