Army Path Planning Using Genetic Algorithm
CHAPTER FOUR
OPTIMIZATION PATH PLANNING USING GENETIC ALGORITHM AND EXPERIMENTAL WORK
4.1 Introduction A robot is a combined mechanical, electronic, and computer system that follows a simple cycle of commands and task execution for operation. The range of motion of each manipulator is called working space. The instrument with which the robot performs the desired task is attached to the last link of the arm and is referred to as the end-effector, End-effector can be a needle, grasper, scalpel,…etc.[55]. Path planning can be defined as “the determination of a path that a robot must take in order to pass over each point in an environment. The path is a plan of geometric locus of the points in a given space where the robot has to pass
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The algorithm execution is performed by the research of the best configurations between the initial and the final nodes with checking the optimization criterion which is here the distance. The strength of this method is that it allows to explore and exploit the best solutions by two operators, which are selection and genetic reproduction [64]. GA has shown significance performance compared to other algorithms in term of reliability. GA is a class of stochastic search algorithms based on biological evolution. It does not require derivative information; it can provide a list of optimum parameters, not just a single solution. Considering these facts, robot path optimization can be performed effectively with GA because the algorithm performs a parallel, but directed search to evolve the most fitted solution in a systematic approach …show more content…
It is able to use all joints simultaneously to perform a programmed move sequence. Micro robots are designed in every way to emulate industrial robots in their programming and operating features. The robots feature advanced capabilities that distinguish them as high-precision, industrial quality systems, ideal for training in state-of-the-art manufacturing technology. The Controlled Robot System, comes with the file transfer software to download and upload programs created. The robot software for the computer-controlled robot system, allows the robot to be directly controlled from the computer. This software provides a real-time 3D simulation of the robot and its immediate environment. Through an intuitive dragand- drop interface, users can directly control the position and movement of the robotic arm. The Lab-Volt RoboCIM software is used to simulate and control the operation of the Servo Robot and external devices, and create programs.
4.6.1 Coordinates of Robot
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