Task scheduling and motion planning for an industrial manipulator |
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| Authors: | Paraskevi Th. Zacharia Elias K. Xidias Nikos A. Aspragathos |
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| Affiliation: | 1. Department of Mechanical & Aeronautical Engineering, University of Patras, Rion 26500, Greece;2. Department of Product and Systems Design Engineering, University of the Aegean, Syros 84100, Greece |
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| Abstract: | In many robotic industrial applications, a manipulator should move among obstacles and reach a set of task-points in order to perform a pre-defined task. It is quite important as well as very complicated to determine the time-optimum sequence of the task-points visited by the end-effector's tip only once assuring that the manipulator's motion through the successive task-points is collision-free. |
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| Keywords: | Industrial manipulators Motion planning Task scheduling Bump-Surface Genetic Algorithm |
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