Explain the genetic algorithm. How can they be used for achieving optimization of robotic arm movement? After I solve the inverse kinematics and get the joint variables, how can I use GA to make an optimization for the joint variables?
GA is an Evolutionary algorithm. It is basically based on Gene.
You can find the very good description of GA in the following articles.
http://www.obitko.com/tutorials/genetic-algorithms/ga-basic-description.php
You can't not use GA for the optimization problem like Time minimization or energy minimization.
But GA can be used for path planning in the presence of obstacles.
MATLAB has a built-in command 'ga' for GA. You can optimize your multi-variable objective using this command.
The details to use this command you can easily fing on internet or on MATLAB help.
Best Wishes,
Zeeshan
Hello,
In the case of optimum movement, obviously you have an objective function which I think is a functional. you can use GA. But in the case of solving a functional as an objective function, GA is very very slow ( specially 'ga' function in MATLAB toolbox). So it is not rational to use such a slow algorithm specially when there exist so many fast algorithms.
If you don't want to develop your own code, use ' Pattern search method' which it's function in MATLAB toolbox is "patternsearch". if you know the approximate area of optimum solution, it would be much faster than GA.
If you want to develop a code, I think "particle swarm optimization(PSO)" or "cat swarm optimization (CSO)" would be helpful and so much faster than GA.
Best Regards,
Dear Amin, GA is the application of Monte-Carlo-Analysis with selection and mutation of parameters in their parameter space. Also you need one or more quality criteria for a definition of fitness. GA is normally very slow and not suitable for online applications! Best Regards
- Badges
- Science topic
- Similar topics
- Engineering
- Mechanical Engineering