홉필드 신경 회로망을 이용한 로봇 매니퓰레이터의 최적 시간 경로 계획

In this paper, Micro-Genetic algorithms(μ-GAs) is proposed on a minimum-lime path planning for robot manipulator, which is a kind of optimization algorithm. The minimum-lime path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computation burden and can't often find the optimul values. One way to overcome such difficulties is to apply the Micro-Genetic Algorithms, which can allow to find the optimul values, to the minimum-time problem. This paper propose an approach for solving the minimum-time path planning by using Micro-Generic Algorithms. The effectiveness of the proposed method is demonstrated using the 2 d.o.f plannar Robot manipulator.