Task Time Optimization Of Two DOF Robot Arm Manipulator Using Genetic Algorithm
Task time optimization of 2 DOF planar robotic arm manipulator proposed by genetic algorithm is presented in
this paper. The point to point trajectory by cubic polynomial from initial to intermediate point as well as from intermediate to
final point is used. The algorithm prepared which gives optimum (minimum) task time while the torque of the manipulator
not exceeding a maximum predefined value. To avoid the singular configuration, direct kinematics has been used.
Keywords- Genetic algorithm, optimization, singular configuration