Original Article International Journal of Engineering Technologies and Management Research ISSN (Online): 2454-1907 May 2021 8(5), 9–18 Published 19 May 2021 Corresponding Author Hasan Demir, hasandemir@aksara y.edu.tr DOI 10.29121/ ijetmr.v8.i5.2021.938 Funding: This research received no speciϐic grant from any funding agency in the public, commercial, or not-for-proϐit sectors. Copyright: © 2021 The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. TIME-OPTIMAL PATH PLANNING MODEL USING GENETIC ALGO- RITHM IN RRR ROBOT Hasan Demir 1 , Mehmet R. Tolun 2 and Filiz Sari 3 1 Ortaköy Vocational School, Aksaray University, Turrkey 2 Department of Computer Engineering, Konya Food and Agriculture University, Turkey 3 Aksaray University, Department of Electrical and Electronics Engineering, Turkey ABSTRACT The mathematical expression of the kinematic equations of each joint is utilized for the path planning using a quantic polynomial in joint space. In this study, a time optimization model for path planning using genetic algorithms with a vari- ety of crossover fraction and mutation rates is investigated. The optimization process is performed with MATLAB. Optimization using boundary conditions is performed with MATLAB. The result of the simulation, smooth speed graphs, angular position graphs, and the time when joint movements will complete the orbit as soon as possible are obtained. As a result of this study, a path planning model that can be applied to any robot is developed in joint space based on time optimization and can be used to shorten the task time, especially in task-based robots. Keywords: Path Planning, Genetic Algorithm, Time Optimization 1. INTRODUCTION Trajectory planning is an important research topic in robot applications, and many research papers are published on this subject Duque et al. (2017), Markus et al. (2013), Ragaglia et al. (2018). Robot trajectory planning means that the end-effector passing through speciϐic points reaches the target point from the starting point. Each joint angle varies depending on the time in trajectory planning. The primary pur- pose of trajectory planning is to automatically create a collision-free trajectory for the robot by making a motion plan in an environment with obstacles. Trajectory plan- ning can be done in Cartesian space or in Joint space. Trajectory planning in joint space is more straightforward than in Cartesian space. To make trajectory planning in joint space, the points given in Cartesian space must be found in the joint space using inverse kinematics. Robot trajectory planning research analyzes the velocity and acceleration of each joint. The mechanical properties of the robots determine How to cite this article (APA): Demir, H., Tolun, M. R., & Sari, F. (2021). Time-optimal path planning model using genetic algorithm in rrr robot. International Journal of Engineering Technologies and Management Research, 8(5), 9-18. doi: 10.7821/ijetmr.v8.i5.2021.938 9