Planning and optimizing the robot manipulator's path using artificial intelligence algorithms

Primjenom Lagrange-Euler i Newton-Eulerove metode odreduju se dinamičke jednadžbe robotskog manipulatora. Ove diferencijalne jednadžbe su potrebne za optimizaciju putanje robotskog manipulatora metodama umjetne inteligencije poput genetskog algoritma, diferencijalne evolucije i simuliranog kaljenja. Daje se usporedba tih metoda evolucijskog računarstva nad zadanim problemom. U zaključku se pokazuje da metode genetskog algoritma i diferencijalne evolucije daju najbolje rezultate u ovisnosti o slučaju.The Lagrange-Euler and the Newton-Euler methods are used to determine the dynamic equations of a robotic manipulator. This differential equations are needed for path optimization of the robotic manipulator using artificial intelligence methods, such as genetic algorithm, differential evolution and simulated annealing. The paper compares multiple evolutionary computing techniques on the given problem. Conclusion shows that the best results are gained using the genetic algorithm and differential evolution methods