진화 알고리즘에 의한 로봇 매니퓰레이터의 최적 궤적 제어

Optimal trajectory control for robot manipulator using evolutionary algorithm

As usual systems, robot manipulators have also physical constraints for operating. It is a difficult problem that we operate manipulator in the minimal time under these constraints. In this paper, we solve this problem dividing it into two steps. In the first step, we find the minimal time trajectories by optimizing qubic polynomial joint trajectories using evolutionary algorithms. In the second step, we optimize controller for robot manipulator to track precisely trajectories optimized in the previous step.