Motion Planning for a Cutting Task Based on Criteria of Skilled Operators.

This paper proposes a motion planning method for cutting a three dimensional workpiece by a redundant robot arm. The method applies a genetic algorithm to optimize rotational angles of the end-effector on a path which is a redundant parameter. For a fitness function, an evaluation function is defined based on references from skilled operators. The proposed method reduces the operator's efforts, so that he only has to determine a path without considering redundant parameters. Through simulations and experiments the effectiveness of the proposed method is demonstrated.