عنوان المقالة: Optimization of the time of task scheduling for dual manipulators using a modified electromagnetism-like algorithm and genetic algorithm
Issa Ahmed Abed · S. P. Koh · Khairul Salleh Mohamed Sahari · P. Jagadeesh · S. K. Tiong
الملخص الانجليزي
Amethod based on amodified electromagnetismlike
with two-direction local search algorithm (MEMTDLS)
and genetic algorithm (GA) is proposed to determine the optimal
time of task scheduling for dual-robot manipulators. A
GA is utilized to calculate the near-optimal task scheduling
for both robots, and the MEMTDLS is recommended as a
suitable alternative in obtaining multiple solutions at each
task point for both manipulators with minimal error. During
the course of the tour, the robots move from point to
point with a short cycle time, while ensuring that no collision
occurs between the two manipulators themselves 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 illustrated using a simulator
that was developed via Visual Basic .Net. The method
is verified using two simulators that are used as examples for
two identical four-link planar robots that work in the environment,
with square-shaped obstacles cluttered at different
locations.
ا.د عيسى احمد عبد | Prof.Dr. Issa Ahmed Abed | 6712