文档介绍：Volume 2, Number 3,Sep. 2008
ISSN 1995-6665
JJMIE Pages 131 - 136
Jordan Journal of Mechanical and Industrial Engineering
Motion Planning for a Robot Arm by Using ic Algorithm
Bahaa Ibraheem Kazem *, Ali Ibrahim Mahdi, Ali Talib Oudah
Mechatronics Engineering Dept., Al-Khawarizmi College of Engineering, University of Baghdad, Baghdad, Iraq
Abstract
This paper proposes ic 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.
© 2008 Jordan Journal of Mechanical and Industrial Engineering. All rights reserved
Keywords: robot motion planning; ic algorithm; obstacle avoidance
satisfied the matching condition of the position and
velocity at the time of the interception altogether. This was
1. Introduction carried out by introducing body axis (as well as joint and
inertia axis) as trajectory planning coordinates and
In the last decade, ic algorithms (GAs) have been separat