Optimization of Task Scheduling for Single-Robot Manipulator using Pendulum-Like with Attraction-Repulsion Mechanism Algorithm and Genetic Algorithm

In order to solve the problem of task scheduling for robot manipulators in terms of minimal error and less cycle time, the combination between Pendulum-like with Attraction-repulsion mechanism algorithm (PA) and Genetic algorithm (GA), known as PA-GA has been proposed. The proposed PA algorithm has been used to generate the multiple robot configurations at each task point with high precision. The PA-GA algorithm is used to solve the problem of task scheduling for robot manipulator, in terms of minimum error and less cycle time. In the task scheduling problem with static obstacles, a single-robot manipulator moves from point to point and guarantees zero collision with the static obstacles at the task points. The movement and the configurations of the manipulators at the task points were illustrated using a simulator developed via Visual Basic. net. The method is verified via simulation for the four-link planar robots in a working environment with different sizes of static obstacles cluttered at different locations.