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The Path Planning of Cartesian Type Robot for Tooth-arrangement Using Genetic Algorithms

ZHANG Yong-de,JIANG Jin-gang,TANG Wei,GU Jun-tao(Intelligent Machine Institute,Harbin University of Science and Technology,Harbin 150080,China)  
Aiming at the path planning of multi-objective grasping of cartesian type robot for tooth-arrangement,the structure of cartesian type robot for tooth-arrangement and the grasping process of V-Type Block is analyzed,the path planning of multi-objective grasping based on the standard of the shortest distance is proposed.Compared with typical TSP problem,the entity mathematical model 1 is set up,and we converse it into an Abstractive mathematical model 2.In order to solve the problem with Matlab,the optimal solution is obtained and the optimal solution is analyzed using Matlab based on genetic algorithms.
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