| 一种基于遗传算法的机器人加工路径规划方法 |
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| 引用本文： | 郭彤颖,曲道奎.一种基于遗传算法的机器人加工路径规划方法[J].华中科技大学学报(自然科学版),2004(Z1). |
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| 作者姓名： | 郭彤颖 曲道奎 |
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| 作者单位： | [1]中国科学院沈阳自动化研究所 [2]中国科学院研究生院 辽宁沈阳 |
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| 摘 要： | 针对传统机器人加工路径规划采用示教再现方法很难适应复杂变化任务的问题 ,提出了基于遗传算法的路径规划方法 ,研究了遗传算法中的编码方式、交叉算子和变异算子的改进方法 .仿真实验表明 ,采用遗传算法进行机器人加工路径规划是可行的和有效的 .
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| 关 键 词： | 机器人 加工 路径规划 遗传算法 启发式搜索 |
A method of machining path planning for robot based on genetic algorithm |
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| Guo Tongying Qu Daokui Doctoral Candidate, Shenyang Institute of Automation of CAS,Shenyang ,China..A method of machining path planning for robot based on genetic algorithm[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2004(Z1). |
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| Authors: | Guo Tongying Qu Daokui Doctoral Candidate Shenyang Institute of Automation of CAS Shenyang China |
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| Institution: | Guo Tongying Qu Daokui Doctoral Candidate, Shenyang Institute of Automation of CAS,Shenyang 110016,China. |
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| Abstract: | The path planning for traditional machining robot is teach-play-back method, which is difficult to finish complex and changeable tasks. In this paper, the path planning schemes based on genetic algorithm are proposed. The encoding ways, crossover operator and mutation operator of genetic algorithm are researched. Simulation shows that this method of path planning for machining robot is effective. |
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| Keywords: | robot machining path planning genetic algorithm heuristic search |
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