Research on path planning for manipulator to avoid real-time obstacle based on genetic algorithms

To solve the problem that modular manipulator might collide with the obstacles during the run time in its work space,this paper proposed path planning for manipulator to avoid obstacle based on genetic algorithms.Firstly,it modeled the mobile manipulator with the D-H method,analyzed the kinematics and dynamics,and also built up kinematics and dynamics equations.On this basis,in the environment with single or multiple obstacles,took the execute time,spatial distance and trajectory length as optimizations,and achieved a manipulator obstacle avoidance path planning optimization.The experiment result shows that the effectiveness and feasibility of the proposed path planning based on genetic algorithms for manipulator to avoid obstacle are verified,so this algorithm can improve the efficiency of manipulator to avoid obstacle in the workspace.