Evolution of a Manipulator Model using Linear Graphs and Genetic Algorithms

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doi:10.3850/978-981-08-7723-1_P211

Evolution of a Manipulator Model using Linear Graphs and Genetic Algorithms

A. S. Arifin^1,a, C. W. De Silva², A. N. Poo^1,b and K. K. Tan³

¹Mechanical Engineering, National University of Singapore.

^aG0800239@nus.edu.sg ^bmpepooan@nus.edu.sg

²Mechanical Engineering, The University of British Columbia.

desilva@mech.ubc.ca

³Electrical Engineering, National University of Singapore.

kktan@nus.edu.sg

ABSTRACT

This paper develops methodology for evolving a model for a three-degree-of-freedom (3 DOF) manipulator. The approach uses modeling based on linear graphs (LG) and optimization based on genetic algorithms (GA). In particular, GA is used to evaluate the fitness of the linear graph model as it evolves. The fitness function is optimized using GA to improve the performance of the manipulator.

Keywords: Model optimization, Linear graphs, Manipulators, Genetic algorithms.

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Evolution of a Manipulator Model using Linear Graphs and Genetic Algorithms

A. S. Arifin1,a, C. W. De Silva2, A. N. Poo1,b and K. K. Tan3

1Mechanical Engineering, National University of Singapore.

2Mechanical Engineering, The University of British Columbia.

3Electrical Engineering, National University of Singapore.

ABSTRACT

A. S. Arifin^1,a, C. W. De Silva², A. N. Poo^1,b and K. K. Tan³

¹Mechanical Engineering, National University of Singapore.

²Mechanical Engineering, The University of British Columbia.

³Electrical Engineering, National University of Singapore.