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Optimal placement of a two-link planar manipulator using a genetic algorithm

Published online by Cambridge University Press:  11 March 2005

Lianfang Tian  and
Curtis Collins
Lianfang Tian
Affiliation:
Department of Mechanical Engineering, University of California at Riverside, Riverside, CA 92521 (USA)
Curtis Collins
Affiliation:
Department of Mechanical Engineering, University of California at Riverside, Riverside, CA 92521 (USA)
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Abstract

In this paper, we study the base placement problem for a two-degree-freedom-robot. The feasible area for the robot base is described, and its manipulability measure is formulated. To find the optimal base location of the robot, we develop a genetic algorithm (GA) to search for the valid solution in the reachable area of the robot base. To speed up the evolutionary process, we keep the elitists from one generation to the next generation according to certain elitist rate. The genetic algorithm approach is beneficial because it can also be extended to trajectory planning for robots with more degrees-of-freedom. We demonstrate the algorithm with some examples.

Keywords

Robot base placementOptimizationGenetic algorithm
Type
Research Article
Information
Robotica , Volume 23 , Issue 2 , March 2005 , pp. 169 - 176
Copyright
© 2005 Cambridge University Press

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