Author(s)

M.A. Ridao, J. Riquelme, E.F. Camacho & M.Toro

Abstract

A method for obtaining coordinated motion plans of manipulator robots is presented. This planning can be easily implemented by programs written in any industrial robot programming language, such as VAL II. The generated programs minimize the total motion time of the robots along their paths, with some constraints directed at avoiding collision between the robots. A method based on Evolution Strategies is used for the optimization. 1 Introduction Finding collision-free motion planning algorithms has been the focus of research in many works [l]-[4]. The problem is to plan a collision-free motion (obstacles and other robots), from an initial configuration to a goal configuration. The algori

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