OPTIMUMM OTION PLANNING IN JOINT SPACE USING GENETIC AIGORTHMS

he optimum motion planning in joint space(OMPJS),which consists of two subproblems atclose hand, optimum path planning and optimum trajectory planning, was considered wholly instead of indi-vidually.A new method based on genetic algorithm for optimal motion planning problem is proposed,whichis more general.flexible and effective, This approach incorporates kinematics,dynamics and control con-straints of robot manipulator. The minimum time trajectory is paralneterized by splines. The simulation resuIts for a two degrees of freedom robot are presented.The simulation is based on genetic algorithm class li-brary WGAClass 1.0 developed by us with Borland C+ + 3.1.