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International Journal of Computer, Electrical, Automation, Control and Information Engineering Vol:1, No:1, 2007
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
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scholar.waset.org/1999.4/5038
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
Robotic
Arm
Specifica
-tions
Output
Genetic
Algorithm
*Population
Generation
*Fitness value
(AHP)
*Encoding
*Selection
*Crossover
*Mutation
*Accepting
Inverse
Kinematics
Optional
Angular
Displacement
of the joints
Inverse
Kinematics
l3
3
l2
y
2
l1
New
population
( x ,y)
1
x
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scholar.waset.org/1999.4/5038
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
Attribute
Importance
Value (total 1)
A1
High
0.5
A2
Low
0.2
A3
Medium
0.3
TABLE III
IMPORTANCE AND VALUE OF THE THREE ATTRIBUTE FOR 3
Attribute
Importance
A1
Medium
0.3
A2
Medium
0.3
A3
High
0.4
Importance
A1
Medium
0.3
A2
High
0.5
A3
Low
0.2
Value (total 1)
(4)
TABLE II
IMPORTANCE AND VALUE OF THE THREE ATTRIBUTE FOR 2
Attribute
Value (total 1)
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Start
Start
n=0
Population
Obtain two solutions for each
1, 2, 3
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
n=0 (First
Run)
Population Generation
Encoding
Selection
Crossover
Applying AHP
Mutation
Obtain New Offspring
n=n+1
(Next Run)
n=n+1
Next
Run
Accepting
Place new offspring
in the population
Test
Yes
Yes
If new population
is better than
previous one?
If new population
is better than
previous one?
No
No
Accept the previous one.
Accept the previous one.
Stop
Stop
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scholar.waset.org/1999.4/5038
Start
Identify overall Objective
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
Above the
level of
alternatives
identify a
level of
attributes
common to
the
alternatives
for their
evaluation.
Identify Sub-Criteria
Identify
alternatives to
be evaluated
in terms of sub
criteria
Cr.
No.
Chromosome
Fitness
value
1.
2.
3.
4.
5.
6.
7.
8.
1377.84
1281.28
841.44
744.88
682.59
586.03
1218.99
1122.43
No
If the sub
criteria are too
general?
Cr.
No.
9.
10.
11.
12.
13.
14.
15.
16.
Identify a
level of
factors
above the
attributes
for
evaluation.
Chromosome
{20.840, 36.950, 103.840}
{20.840, 36.950, 76.150}
{20.840, 28.750, 103.840}
{20.840, 28.750, 76.150}
{40.330, 36.950, 103.840}
{40.330, 36.950, 76.150}
{40.330, 28.750, 103.840}
{40.330, 28.750, 76.150}
Fitness
value
482.90
400.11
458.47
375.68
541.18
458.39
516.75
433.96
No
If the importance
of the attributes
can be
determined in
terms of the sub
criteria?
TABLE VI
POPULATION FROM SECOND RUN
Cr.
No.
Yes
Stop
Chromosome
36
Fitness
value
17.
18.
742.30
938.74
19.
20.
21.
22.
23.
24.
777.47
973.91
586.16
782.60
621.31
817.77
scholar.waset.org/1999.4/5038
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
TABLE VII
POPULATION FROM THIRD RUN
Cr.
No.
Chromosome
Fitness
value
25.
26.
27.
28.
713.43
977.44
845.14
1109.16
29.
30.
31.
32.
555.57
818.58
686.28
950.30
VIII. CONCLUSION
It is concluded that in the presence of several optimization
attributes for a physical system of higher order like three link
manipulator, in this case, the GA is a practical way of finding
the globally optimal solutions. Augmentation of GA with AHP
reduces any chance of GA getting converted into a random
search method as evident from the results obtained in this
work.
REFERENCES
[1]
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scholar.waset.org/1999.4/5038
International Science Index, Electrical and Computer Engineering Vol:1, No:1, 2007 waset.org/Publication/5038
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scholar.waset.org/1999.4/5038