Motion Planning for a Robot Arm by Using Genetic Algorithm
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
Cite As
Ali Albattat (2024). Motion Planning for a Robot Arm by Using Genetic Algorithm (https://www.mathworks.com/matlabcentral/fileexchange/23289-motion-planning-for-a-robot-arm-by-using-genetic-algorithm), MATLAB Central File Exchange. Retrieved .
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- Mathematics and Optimization > Global Optimization Toolbox > Genetic Algorithm >
- Robotics and Autonomous Systems > Robotics System Toolbox >
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robot motion planning/matlab code/
Version | Published | Release Notes | |
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1.0.0.0 |