Construction Robot Development Using Genetic Algorithm Technique

In this paper, it has been shown how to utilize the genetic algoritlun (GA) technique in construction robot development. The investigation of the problem is carried out on the example of an automated device for the restoration of steel bridges, as the technology of the process poses a high level of health hazard and causes environmental pollution. Using GA as an instrument, allows to optimize the robot's key parameters simultaneously, based on the criteria of collision avoidance, percentage of coverage, productivity and dexterity. After formulating of the problem, the choice of the optimization parameters is justified and the procedure for analysis of the inter-relation between the task characteristics and the robot design is set out. Then, the optimization tool (GA) is introduced as the technique yielding optimal values for the parameters. Separating the problem into two-step approach follows, with full analysis and justification. The illustration of the optimization model uses simulation and computer graphics as a tool. Discussion on the effectiveness of the method and the quality of the expected outcome summarizes, the paper.