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Optimum Path Planning of Scora ER 14 (SCARA) Robot for an Assembly Operation Using Genetic Algorithm


Affiliations
1 Bannari Amman Institute of Technology, Sathyamangalam, India
2 National Institute of Technology, Kerala, India
3 Govt. College of Technology, Coimbatore, India
     

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Mainly in all manufacturing and assembly operations, robot performance is important in productivity and quality point of view. Better performance is achieved only through proper design and optimum path planning. This paper proposes a fitness function and Genetic Algorithm (GA) to generate optimum path for SCORA ER 14 robotic manipulator for an assembly operations. Main objective of this work is to improve the productivity with respect to the constraints such as positions, velocities and accelerations. This article also presents arm joint utilization, various joint trajectories and comparison of joint movements for different links with different paths based on simulation results.
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  • Optimum Path Planning of Scora ER 14 (SCARA) Robot for an Assembly Operation Using Genetic Algorithm

Abstract Views: 216  |  PDF Views: 0

Authors

M. Santhakumar
Bannari Amman Institute of Technology, Sathyamangalam, India
A. P. Sudheer
National Institute of Technology, Kerala, India
P. K. Jayadev
Govt. College of Technology, Coimbatore, India

Abstract


Mainly in all manufacturing and assembly operations, robot performance is important in productivity and quality point of view. Better performance is achieved only through proper design and optimum path planning. This paper proposes a fitness function and Genetic Algorithm (GA) to generate optimum path for SCORA ER 14 robotic manipulator for an assembly operations. Main objective of this work is to improve the productivity with respect to the constraints such as positions, velocities and accelerations. This article also presents arm joint utilization, various joint trajectories and comparison of joint movements for different links with different paths based on simulation results.