Two new algorithms for minimum time motion path planning of robot manipulators and their implementations on PVR-based control platform
Abstract：To deal with the minimum time motion path planning (MTMPP) of robot manipulators to execute point-to-point work task, a novel hybrid evolutionary computation simulated annealing algorithm EC * SA and an algorithm EC * SA_ DPcombining EC * SA and some special optimization techniques were presented. The advantages of novel optimal algorithm weredemonstrated through a comparison with existing preferable elastic net method (ENM) and some other optimal algorithms suchas simple genetic algorithm (SGA) and simulated annealing (SA) algorithm. In addition, virtual simulation experiments werecarried out on the control platform based on projective virtual reality (PVR) technology. The virtual experimental results showthat the precision of projective operability is greatly enhanced in the virtual environment.
Keywords：minimum time motion path planningevolution computationsimulated annealingelastic net methodsim-ple genetic algorithmprojective virtual reality
Publication Date：2003-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 700-706 )