Path planning for redundant manipulators using metaheuristic for bilevel optimization and maximum of manipulability

In this paper, we propose a novel path planning method for a robot manipulator in the case of several obstacles. The path is generated by steps. At each step, a new position of the end effector is found in the Cartesian space. The redundancy of the manipulator, imposes that this position can be found by an infinity of configurations in the joint space. Thus, we search the best configuration which allows to avoid obstacles and singularities of the robot. This method is based on using the bilevel genetic algorithm to solve this problem. Simulation results showed the effectiveness of the proposed approach.

[1]  Boubaker Daachi,et al.  Adaptive neural controller for redundant robot manipulators and collision avoidance with mobile obstacles , 2012, Neurocomputing.

[2]  José António Tenreiro Machado,et al.  Manipulator trajectory planning using a MOEA , 2007, Appl. Soft Comput..

[3]  H. Lehtihet,et al.  Minimum cost trajectory planning for industrial robots , 2004 .

[4]  Sibi Chacko,et al.  Polynomial joint angle arm robot motion planning in complex geometrical obstacles , 2013, Appl. Soft Comput..

[5]  Amit Konar,et al.  Application of Swarm Intelligence to a Two-Fold Optimization Scheme for Trajectory Planning of a Robot Arm , 2011, SEMCCO.

[6]  万仲平,et al.  A DUAL-RELAX PENALTY FUNCTION APPROACH FOR SOLVING NONLINEAR BILEVEL PROGRAMMING WITH LINEAR LOWER LEVEL PROBLEM , 2011 .

[7]  John H. Holland,et al.  Adaptation in Natural and Artificial Systems: An Introductory Analysis with Applications to Biology, Control, and Artificial Intelligence , 1992 .

[8]  Yuping Wang,et al.  A Hybrid Genetic Algorithm for Solving a Class of Nonlinear Bilevel Programming Problems , 2006, SEAL.

[9]  El-Ghazali Talbi,et al.  Metaheuristics - From Design to Implementation , 2009 .

[10]  Mohammad Mehdi Sepehri,et al.  Linear bilevel programming solution by genetic algorithm , 2002, Comput. Oper. Res..

[11]  Chih-Jer Lin,et al.  Motion planning of redundant robots by perturbation method , 2004 .

[12]  Devendra P. Garg,et al.  Optimization techniques applied to multiple manipulators for path planning and torque minimization , 2002 .

[13]  Ming J. Tsai,et al.  Manipulability of manipulators , 1990 .

[14]  Peter C. Müller,et al.  An on-line Cartesian space obstacle avoidance scheme for robot arms , 1996 .

[15]  Maarouf Saad,et al.  Modeling and adaptive control of redundant robots , 2006, Math. Comput. Simul..

[16]  Maria da Graça Marcos,et al.  Trajectory planning of redundant manipulators using genetic algorithms , 2009 .

[17]  Pankaj Wahi,et al.  A direct variational method for planning monotonically optimal paths for redundant manipulators in constrained workspaces , 2013, Robotics Auton. Syst..

[18]  Tiesong Hu,et al.  A penalty function method based on Kuhn-Tucker condition for solving linear bilevel programming , 2007, Appl. Math. Comput..

[19]  Zafer Bingul,et al.  Comparative study of performance indices for fundamental robot manipulators , 2006, Robotics Auton. Syst..

[20]  Yan Jiang,et al.  Application of particle swarm optimization based on CHKS smoothing function for solving nonlinear bilevel programming problem , 2013, Appl. Math. Comput..

[21]  José António Tenreiro Machado,et al.  A multi-objective approach for the motion planning of redundant manipulators , 2012, Appl. Soft Comput..

[22]  Rajkumar Roy,et al.  Bi-level optimisation using genetic algorithm , 2002, Proceedings 2002 IEEE International Conference on Artificial Intelligence Systems (ICAIS 2002).