This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link robot arm. The objective function for the proposed GA is to minimizing traveling time and space, while not exceeding a maximum pre-defined torque, without collision with any obstacle in the robot workspace.

robot motion planning
.....................\matlab code
.....................\...........\aliwork.fig
.....................\...........\aliwork.m
.....................\...........\angls2links.m
.....................\...........\angls2links2.m
.....................\...........\cross_singlepoint.m
.....................\...........\fitnesstra2f.m
.....................\...........\fitnesstra2ob.m
.....................\...........\fitnesstra3f.m
.....................\...........\fitnesstra3ob.m
.....................\...........\fobstacle.m
.....................\...........\fobstacle2.m
.....................\...........\forkin.m
.....................\...........\forkin3.m
.....................\...........\ftorque.m
.....................\...........\ftorque3.m
.....................\...........\invkin.m
.....................\...........\invkin3.m
.....................\...........\invkini.m
.....................\...........\mutate1.m
.....................\...........\recor.m
.....................\...........\recor2.m
.....................\...........\torque.m
.....................\...........\torque3.m
.....................\...........\trajectory_planning2f.m
.....................\...........\trajectory_planning2ob.m
.....................\...........\trajectory_planning3f.m
.....................\...........\trajectory_planning3ob.m
.....................\...........\trajt.m
.....................\...........\trajt3.m
.....................\presentation
.....................\............\Movie_1.wmv
.....................\............\presentation.pps

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