Optimization of Energy in Robotic arm using Genetic Algorithm

摘要

Abstract — This paper proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link robotic arm. The objective function for the proposed GA is to minimize Energy consumed by the actuators in Robotic arm and traveling time, while not exceeding a maximum pre-defined torque, without collision with any obstacle in the robot workspace. Fourth and fifth order 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. The algorithm finds the shortest path for the end-effector with minimum joint movements. The GA is applied for all the intermediate points between the initial and final point, and thus the accuracy is increased in terms of achieving final point. Results of GA approach are then compared with Geometrical approach.