Determining the trajectory characteristics of a robotic manipulator using metaheuristic algorithms

U ovom diplomskom radu izrađen je pregled primjene umjetne inteligencije u planiranju putanje robotskog manipulatora sa šest zglobova. Dan je opis planiranja putanje robotskog manipulatora. Izrađen je genetski algoritam za izračun parametara putanje. Uz genetski algoritam, problem je riješen i tradicionalnim pristupom bez primjene umjetne inteligencije. Uspoređena su rješenja i karakteristike dva algoritma te na samom kraju provedena je i simulacija.In this diploma thesis, an overview of the application of artificial intelligence in the planning of the path of a robot manipulator with six joints was made. A description of the path planning of the robotic manipulator is given. A genetic algorithm was developed for the calculation of path parameters. In addition to the genetic algorithm, the problem was also solved using a traditional approach without the use of artificial intelligence. The solutions and characteristics of the two algorithms were compared, and at the very end, a simulation was performed