The Study of Robot Hand Path Planning using GA with Multi Space Obstacle

In this paper, a new method is proposed for solving the obstacles avoidance problem of 3-link redundant robot arm in 2D space by optimizing the point-to-point path planning using GA. The objective function in GA is set to minimize traveling time and path with their weights allocated according to their worth in actual situation. The constraint of GA is not to exceed the maximum torque limit while avoiding collisions with several obstacles in robot workspace. Forward and inverse kinematics are used to describe the path segments that connect initial, intermediate and final points. Keywords: path-planning, genetic algorithm.