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Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm

A method based on a modified electromagnetism-like with two-direction local search algorithm (MEMTDLS) and genetic algorithm (GA) is proposed to determine the optimal time of task scheduling for dual-robot manipulators. A GA is utilized to calculate the near-optimal task scheduling for both robots,...

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Main Authors: Abed I.A., Koh S.P., Sahari K.S.M., Jagadeesh P., Tiong S.K.
Other Authors: 55568292900
Format: Article
Published: Springer Verlag 2023
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spelling my.uniten.dspace-220692023-05-16T10:47:07Z Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm Abed I.A. Koh S.P. Sahari K.S.M. Jagadeesh P. Tiong S.K. 55568292900 22951210700 57218170038 11340187300 15128307800 A method based on a modified electromagnetism-like with two-direction local search algorithm (MEMTDLS) and genetic algorithm (GA) is proposed to determine the optimal time of task scheduling for dual-robot manipulators. A GA is utilized to calculate the near-optimal task scheduling for both robots, and the MEMTDLS is recommended as a suitable alternative in obtaining multiple solutions at each task point for both manipulators with minimal error. During the course of the tour, the robots move from point to point with a short cycle time, while ensuring that no collision occurs between the two manipulators themselves or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were illustrated using a simulator that was developed via Visual Basic.Net. The method is verified using two simulators that are used as examples for two identical four-link planar robots that work in the environment, with square-shaped obstacles cluttered at different locations. © 2014 King Fahd University of Petroleum and Minerals. Final 2023-05-16T02:47:07Z 2023-05-16T02:47:07Z 2014 Article 10.1007/s13369-014-1250-0 2-s2.0-84904894278 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84904894278&doi=10.1007%2fs13369-014-1250-0&partnerID=40&md5=bc9c7fe35d29f3ff7c46380b358dcf3f https://irepository.uniten.edu.my/handle/123456789/22069 39 8 6269 6285 Springer Verlag Scopus
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description A method based on a modified electromagnetism-like with two-direction local search algorithm (MEMTDLS) and genetic algorithm (GA) is proposed to determine the optimal time of task scheduling for dual-robot manipulators. A GA is utilized to calculate the near-optimal task scheduling for both robots, and the MEMTDLS is recommended as a suitable alternative in obtaining multiple solutions at each task point for both manipulators with minimal error. During the course of the tour, the robots move from point to point with a short cycle time, while ensuring that no collision occurs between the two manipulators themselves or between the dual manipulators and the static obstacles in the workspace. The movement and the configurations of the manipulators at the task points were illustrated using a simulator that was developed via Visual Basic.Net. The method is verified using two simulators that are used as examples for two identical four-link planar robots that work in the environment, with square-shaped obstacles cluttered at different locations. © 2014 King Fahd University of Petroleum and Minerals.
author2 55568292900
author_facet 55568292900
Abed I.A.
Koh S.P.
Sahari K.S.M.
Jagadeesh P.
Tiong S.K.
format Article
author Abed I.A.
Koh S.P.
Sahari K.S.M.
Jagadeesh P.
Tiong S.K.
spellingShingle Abed I.A.
Koh S.P.
Sahari K.S.M.
Jagadeesh P.
Tiong S.K.
Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
author_sort Abed I.A.
title Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
title_short Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
title_full Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
title_fullStr Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
title_full_unstemmed Optimization of the Time of Task Scheduling for Dual Manipulators using a Modified Electromagnetism-Like Algorithm and Genetic Algorithm
title_sort optimization of the time of task scheduling for dual manipulators using a modified electromagnetism-like algorithm and genetic algorithm
publisher Springer Verlag
publishDate 2023
_version_ 1806427833523765248
score 13.222552

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