OPTIMIZING MOTION PLANNING FOR HYPER DYNAMIC MANIPULATOR

Souhila Aboura – Abdelhafid Omari – Kadda Zemalache Meguenni

   This paper investigates the optimal motion planning for an hyper dynamic manipulator. As case study, we consider a golf swing robot which is consisting with two actuated joint and a mechanical stoppers. Genetic Algorithm (GA) technique is proposed to solve the optimal golf swing motion which is generated by Fourier series approximation. The objective function for GA approach is to minimizing the intermediate and final state, minimizing the robot's energy consummation and maximizing the robot's speed. Obtained simulation results show the effectiveness of the proposed scheme.

Keywords: robot motion planning, genetic algorithm, hyper dynamic manipulation, constrained optimization

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