A COMPARATIVE STUDY BETWEEN CONVENTIONAL AND CONTINUOUS GENETIC ALGORITHMS FOR THE SOLUTION OF CARTESIAN PATH GENERATION PROBLEMS OF ROBOT MANIPULATORS

Za'er Salim Abo-Hammour, Mohammad Suleiman Saraireh, Othman M-K. Alsmadi

Abstract

In this paper, a comparative study between the continuous and the conventional GAs for the solution of Cartesian path generation problems of robot manipulators is performed. The difference between both algorithms lies in the ways in which initialization phase, the crossover operator, and the mutation operator are applied. Generally, the operators of the Continuous Genetic Algorithms (CGA) are of global nature, i.e., applied at the joint’s path level, while those of conventional GA are of local nature, i.e., applied at the path point level. It was concluded from the simulations included that CGAs have several advantages over conventional GAs when applied to the path generation problems; first, the joints’ paths obtained using the conventional GA are found to be of highly oscillatory nature resulting in very large net joints displacements consuming more energy and requiring more time. This problem is totally avoided in CGA where the resulting joints’ paths are smooth. Second, the CGA has faster convergence speed (number of generations required for convergence) than the conventional GA. Third, the average execution time per generation in the conventional GA is two to three times that in the CGA. This is due to the fact that the conventional GA requires a coding process, which is not the case in the CGA. Fourth, the memory requirements of the conventional GA are higher than those of the CGA because the former uses genotype and phenotype representations while the later utilizes only the phenotype representation.

References

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Paper Citation


in Harvard Style

Salim Abo-Hammour Z., Suleiman Saraireh M. and M-K. Alsmadi O. (2009). A COMPARATIVE STUDY BETWEEN CONVENTIONAL AND CONTINUOUS GENETIC ALGORITHMS FOR THE SOLUTION OF CARTESIAN PATH GENERATION PROBLEMS OF ROBOT MANIPULATORS . In Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-674-000-9, pages 417-424. DOI: 10.5220/0002206404170424


in Bibtex Style

@conference{icinco09,
author={Za'er Salim Abo-Hammour and Mohammad Suleiman Saraireh and Othman M-K. Alsmadi},
title={A COMPARATIVE STUDY BETWEEN CONVENTIONAL AND CONTINUOUS GENETIC ALGORITHMS FOR THE SOLUTION OF CARTESIAN PATH GENERATION PROBLEMS OF ROBOT MANIPULATORS},
booktitle={Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2009},
pages={417-424},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002206404170424},
isbn={978-989-674-000-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 6th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A COMPARATIVE STUDY BETWEEN CONVENTIONAL AND CONTINUOUS GENETIC ALGORITHMS FOR THE SOLUTION OF CARTESIAN PATH GENERATION PROBLEMS OF ROBOT MANIPULATORS
SN - 978-989-674-000-9
AU - Salim Abo-Hammour Z.
AU - Suleiman Saraireh M.
AU - M-K. Alsmadi O.
PY - 2009
SP - 417
EP - 424
DO - 10.5220/0002206404170424