Robot systems are an archetype of complex process control systems where valid production programs may have any number (2) of process commands which are difficult to optimize with classical methods. Robot trajectories can be programmed automatically by a genetic algorithm, providing the algorithm will consider the order and varying lengths of trajectories. A genetic, adaptive, heuristic algorithm which is designed to optimize robot trajectories is described. Though the model presented is a general model for redundant structures and could represent any n-link structures, it was applied to a 3-link structure. The performance of the genetic algorithm shows characteristic improvements when compared with that of a hill-climb and random search algorithm.
展开▼
