The genetic approach as the basis for the path search method for a multilink manipulator in complex environment has been discussed. To get over the major downfalls of the genetic approach the developed expert system (ES) to provide a specific purpose orientation at the stages of initial population formation and path crossing is proposed. We use the ES built of two modules: for forming recommendations for the initial population generation and for path crossing. The result for more than 4,000 experiments using five test workcells with various obstacles show that using the expert system increases the point attainability by 20 percent on the average.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.