The Manipulator Path Planning of Bolt Disassembly Based on Improved Genetic Algorithm and A* Algorithm
| Autor: | Weixin Zhang, Mingtian Ma, Hong Lu, Shaojun Wang, He Huang, Cong Kong |
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| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Correctness Stability (learning theory) A* search algorithm 02 engineering and technology Hybrid algorithm law.invention 020901 industrial engineering & automation law Control theory Genetic algorithm Obstacle avoidance Path (graph theory) 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Motion planning |
| Zdroj: | ICSAI |
| Popis: | The manipulator is widely applied in bolt disassembly in the field of remanufacturing. The intelligent manipulator with the ability of generating suitable operating path is increasingly required. To improve the path planning ability of manipulator in bolt disassembly, a strategy of dual path planning using a hybrid algorithm which combines an improved genetic algorithm (GA) and A* algorithm is proposed in this paper. The model of bolt disassembly sequence and algorithm are first established to find out the shortest disassembly path. The improvement of selecting and crossing operators are designed to enhance the stability and efficiency of basic GA. Both basic GA and improved GA are used and compared in the simulation of path planning with MATLAB. Then, the A* algorithm is adopted to accomplish the obstacle avoidance based on the path obtained with improved GA. Last, the experiment focusing on the bolt disassembly of a specific reduction gearbox is performed, and the correctness and feasibility of the hybrid algorithm are verified in the simulation and experiment. |
| Databáze: | OpenAIRE |
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