Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm
For the problem of the low efficiency of robot under a certain working environment,a trajectory planning method based on optimal time is put forward. Firstly,by using the seven times B spline curve,the interpolation of the robot position time series is completed. Then the kinematic constraints are t...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.010 |
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| _version_ | 1841548609740341248 |
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| author | He Jianli Zhu Longying Cheng Lei Yin Jiucheng |
| author_facet | He Jianli Zhu Longying Cheng Lei Yin Jiucheng |
| author_sort | He Jianli |
| collection | DOAJ |
| description | For the problem of the low efficiency of robot under a certain working environment,a trajectory planning method based on optimal time is put forward. Firstly,by using the seven times B spline curve,the interpolation of the robot position time series is completed. Then the kinematic constraints are transformed into the constraints of B spline control vertex. Finally,the time optimal trajectory meeting the kinematics constraints and torque smoothing is obtained by using genetic algorithm,based on the optimization target of robot joint trajectory optimal running time. The experimental results show that the cumulative effect of the planning algorithm could obviously be reduce the jerk and the optimal time of the robot performing trajectory is improved. |
| format | Article |
| id | doaj-art-c7b2ff7fa16e4b7ebfd88a39cda65988 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c7b2ff7fa16e4b7ebfd88a39cda659882025-01-10T14:04:42ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139414529918950Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic AlgorithmHe JianliZhu LongyingCheng LeiYin JiuchengFor the problem of the low efficiency of robot under a certain working environment,a trajectory planning method based on optimal time is put forward. Firstly,by using the seven times B spline curve,the interpolation of the robot position time series is completed. Then the kinematic constraints are transformed into the constraints of B spline control vertex. Finally,the time optimal trajectory meeting the kinematics constraints and torque smoothing is obtained by using genetic algorithm,based on the optimization target of robot joint trajectory optimal running time. The experimental results show that the cumulative effect of the planning algorithm could obviously be reduce the jerk and the optimal time of the robot performing trajectory is improved.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.010 |
| spellingShingle | He Jianli Zhu Longying Cheng Lei Yin Jiucheng Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm Jixie chuandong |
| title | Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm |
| title_full | Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm |
| title_fullStr | Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm |
| title_full_unstemmed | Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm |
| title_short | Time-optimal Trajectory Planning of 6-DOF Robot based on Genetic Algorithm |
| title_sort | time optimal trajectory planning of 6 dof robot based on genetic algorithm |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.09.010 |
| work_keys_str_mv | AT hejianli timeoptimaltrajectoryplanningof6dofrobotbasedongeneticalgorithm AT zhulongying timeoptimaltrajectoryplanningof6dofrobotbasedongeneticalgorithm AT chenglei timeoptimaltrajectoryplanningof6dofrobotbasedongeneticalgorithm AT yinjiucheng timeoptimaltrajectoryplanningof6dofrobotbasedongeneticalgorithm |