TIME-OPTIMAL PATH PLANNING MODEL USING GENETIC ALGO- RITHM IN RRR ROBOT

The mathematicalexpressionof the kinematicequations of each joint is utilizedfor the path planning using a quantic polynomial in joint space. In this study, atimeoptimizationmodelforpathplanningusinggeneticalgorithmswithavari-ety of crossover fraction and mutation rates is investigated. The optimizationprocess is performed with MATLAB. Optimization using boundary conditionsis performed with MATLAB. The result of the simulation, smooth speed graphs,angular position graphs, and the time when joint movements will complete theorbit as soon as possible are obtained. As a result of this study, a path planningmodel that can be applied to any robot is developed in joint space based on timeoptimization and can be used to shorten the task time, especially in task-basedrobots.