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.


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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