Mohammad Danesh - Assistant Professor Department of Mechanical Engineering Isfahan University of Technology Isfahan, Iran
Mohammad Rasoul Abazari - M.Sc. Student Department of Mechanical Engineering Isfahan University of Technology Isfahan, Iran

In this paper a new approach to optimize the path of a 3-RRR planar robot is studied. A reforming polynomial is utilized to refine the path of robot when robot faces an obstacleon its way. A genetic algorithm optimization process is used to denote the end-effector position at any time. In this methoddesign of a continuous and smooth motion was noticed, so the actuators remain healthy. Also some examples are presented to exhibit the performance of the proposed approach

component; path planning; parallel planar robot;genetic algorithm;