Simulation of Robotic Arm using Genetic Algorithm and AHP

Authors: V. K. Banga, Y. Singh, R. Kumar

Abstract:

In this paper, we have proposed a low cost optimized solution for the movement of a three-arm manipulator using Genetic Algorithm (GA) and Analytical Hierarchy Process (AHP). A scheme is given for optimizing the movement of robotic arm with the help of Genetic Algorithm so that the minimum energy consumption criteria can be achieved. As compared to Direct Kinematics, Inverse Kinematics evolved two solutions out of which the best-fit solution is selected with the help of Genetic Algorithm and is kept in search space for future use. The Inverse Kinematics, Fitness Value evaluation and Binary Encoding like tasks are simulated and tested. Although, three factors viz. Movement, Friction and Least Settling Time (or Min. Vibration) are used for finding the Fitness Function / Fitness Values, however some more factors can also be considered.

Keywords: Inverse Kinematics, Genetic Algorithm (GA), Analytical Hierarchy Process (AHP), Fitness Value, Fitness Function.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1060321

References:

[1] Craig J.J., Introduction to Robotics: Mechanics and control, Pearson Education Asia, 2004.
[2] Fu K.S., Gonzalez R.C., Lee C.S.G., Robotics: Control, Sensing, Vision and Intelligence. Mc-Graw Hill International Editions, 1987.
[3] Schilling R.J., Fundamental of Robotics: Analysis and Control, Prentice Hall if India Pvt. Ltd., 2002.
[4] Deb S.R., Robotics Technology and Flexible Automation. Tata Mc-Graw Hill, 2002.
[5] Seshadri V., Jankiraman P.A., Nagarajan T., Robotics -Principles and Applications. AICTE Updates, code no 382.
[6] Whitley Darrell, A Genetic Algorithm Tutorial, Computer Science Department, Colorado State University Fort Collins, CO 80523.
[7] P. Dupont, ''Friction Modeling in Dynamic Robot Simulation.'' Proceedings 1990 IEEE Int. Robotics and Automation Conf.., Cincinnati, OH, May, 1990.
[8] W. Townsend and K. Salisbury, ''Mechanical Bandwidth as a Guideline to High-Performance Manipulator Design'' Proceedings 1990 IEEE Int. Robotics and Automation Conf.., Scottsdale, April, 1989.
[9] Lee G. L. and Goldenberg A. A., ''Comparative Study of Robust Saturation Control of Robot Manipulator: Analysis and Experiments,'' International Journal of Robotics Research, Vol. 15, No. 5, 1996, pp. 473-491.
[10] Lee H. S. and Tomizuka M., ''Robust Motion Controller Design for High-Accuracy Positioning Systems,''IEEE Tr. on Industrial Electronics, Vol. 43, No.1, 1997, pp. 48-55.