Naslov
Cooperative coevolution applied to dual-arm robot motion planning

Autori
Ćurković, Petar ; Jerbić, Bojan ; Stipančić, Tomislav

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
IFAC Proceedings Volumes / Paulo Leitao, Carlos Eduardo Pereira, Jose Barata - Lisabon : Universidade Nova de Lisboa, Instituto Politecnico de Braganca, 2010, 132-137

ISBN
978-3-902661-77-7

Skup
10th IFAC Workshop on Intelligent Manufacturing Systems(IMS'10)

Mjesto i datum
Lisabon, Portugal, 01.07.2010. - 02.07.2010

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Planning ; coevolution ; multi-objective optimization ; dual arm robot

Sažetak
This paper presents a cooperative coevolutionary approach to path planning for two robotic arms sharing common workspace. Each arm is considered an agent, required to find transition strategy from given initial to final configuration in the work space. Since the robots share workspace, they present dynamic obstacle to each other. To solve the problem of path planning in optimized fashion, we formulated it to multi-objective optimization domain and implemented co-evolutionary algorithm to simultaneously optimize four conflicting objectives. End-effector trajectory length, end-effector velocity distribution, total rotate angle and number of collisions are the objectives to be optimized. Simulation results for two 2-R type robots are presented. Experimental verification is conducted on two FANUC Lr Mate 200iC robots.

Izvorni jezik
Engleski

Znanstvena područja
Računarstvo, Strojarstvo, Temeljne tehničke znanosti

POVEZANOST RADA