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Genetic Algorithm Based Optimal Trajectories Planning for Robot Manipulators on Assigned Paths

This research work focuses on finding an optimal trajectory 
for a robot manipulator taking into consideration the 
dynamics constraints of the manipulator. A 3–DOF planar 
robot was modeled using MATLAB/SIMULINK toolbox. The 
simulation of the robot manipulator was carried out using the 
Genetic Algorithm to find the optimal trajectory both in the 
workspace with and without obstacles. In both cases, the 
Genetic Algorithm (GA) generated optimal trajectories. The 
results of both environments were also compared. The 
increase in the simulation result in an obstacle existence 
environment made it possible for optimal trajectory devoid of 
collision with any obstacle in the working area. Thereafter, 
result comparison was done with a similar work and the GA 
method produced a more desired result in terms of execution 
time.