This paper proposes a motion planning method to cut a three-dimensional work piece by a redundant manipulator with six degrees of freedom. The method applies a genetic algorithm to optimize rotational angles of the end effector on a path. For a fitness function, an evaluation function is defined based on references from skilled operators. The proposed method reduces the operators' labor, so that they only have to determine a path without considering redundant parameters. Both simulations and experiments will show the effectiveness of the proposed method. (C) Elsevier Science Inc. 1997. [References: 12]
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