I.A. Abed, K.S.M. Sahari, S.P. Koh, S.K. Tiong and P. Jagadeesh
الملخص الانجليزي
A method based on Electromagnetism-Like algorithm
(EM) and Genetic Algorithm (GA) is proposed to determine the
time-optimal task scheduling for dual robot manipulators. GA is
utilized to calculate the near-optimal task scheduling for the two
robots. On top of that, the EM is recommended as a suitable
alternative to obtain multiple solutions at each task points for
both manipulators with less error. During the course of the tour,
the dual robots move from point to point with less cycle time,
while ensuring that no collision occurs between the two
manipulators or between the dual manipulators and the static
obstacles in the workspace. The movement and the
configurations of the manipulators at the task points were
visualized using a simulator developed via Visual Basic.Net. The
method is verified using two simulators acting as examples for
two identical four-link planar robots working in the
environment, with square-shaped obstacles cluttered at different
locations.
ا.د عيسى احمد عبد | Prof.Dr. Issa Ahmed Abed | 6702