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Proceedings Paper

Using an expert system with genetic algorithm for effective multilink manipulator path planning
Author(s): Nafissa I. Yussupova; Salavat T. Kussimov; Heinz Woern; Gouzel Shakhmametova; Dmitri Nikiforov
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Paper Abstract

The genetic approach as the basis for the path search method for a multilink manipulator in complex environment has been discussed. To get over the major downfalls of the genetic approach the developed expert system (ES) to provide a specific purpose orientation at the stages of initial population formation and path crossing is proposed. We use the ES built of two modules: for forming recommendations for the initial population generation and for path crossing. The result for more than 4,000 experiments using five test workcells with various obstacles show that using the expert system increases the point attainability by 20 percent on the average.

Paper Details

Date Published: 3 October 2001
PDF: 9 pages
Proc. SPIE 4565, Intelligent Systems in Design and Manufacturing IV, (3 October 2001); doi: 10.1117/12.443128
Show Author Affiliations
Nafissa I. Yussupova, Ufa State Aviation Technical Univ. (Russia)
Salavat T. Kussimov, Ufa State Aviation Technical Univ. (Russia)
Heinz Woern, Univ. of Karlsruhe (Germany)
Gouzel Shakhmametova, Ufa State Aviation Technical Univ. (Russia)
Dmitri Nikiforov, Ufa State Aviation Technical Univ. (Russia)

Published in SPIE Proceedings Vol. 4565:
Intelligent Systems in Design and Manufacturing IV
Angappa Gunasekaran; Bhaskaran Gopalakrishnan, Editor(s)

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