A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator

A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC) is presented for a 5-degree of freedom (DOF) hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four object...

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Vydané v:Mathematical Problems in Engineering Ročník 2016; číslo 2016; s. 217 - 244
Hlavní autori: Tong, Xunwei, Cao, Chuqing, Li, Ruifeng, Guo, Wanjin, Gao, Yunfeng
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Cairo, Egypt Hindawi Limiteds 01.01.2016
Hindawi Publishing Corporation
John Wiley & Sons, Inc
Predmet:
Acceleration
Algorithms
Bearing strength
Cost function
Degrees of freedom
Dynamic loads
Dynamic programming
Economic models
Evolutionary algorithms
Genetic algorithms
Laboratories
Linear programming
Load carrying capacity
Loads (forces)
Manipulators
Mathematical analysis
Mathematical models
Mathematical problems
Methods
Multiple objective analysis
Planning
Robot arms
Robot dynamics
Robotics
Robots
Sorting algorithms
Trajectory optimization
Trajectory planning
Travel time
ISSN:1024-123X, 1563-5147
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Abstract A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC) is presented for a 5-degree of freedom (DOF) hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions) subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II). A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.
AbstractList A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity (DLCC) is presented for a 5-degree of freedom (DOF) hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function (which is the weighted sum of these four objective functions) subject to constraints on joint positions, velocities, acceleration, jerks, forces/torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm (NSGA-II). A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.
Author Cao, Chuqing
Guo, Wanjin
Gao, Yunfeng
Tong, Xunwei
Li, Ruifeng
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CitedBy_id crossref_primary_10_3390_machines12110811
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Copyright © 2016 Wanjin Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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SubjectTerms Acceleration
Algorithms
Bearing strength
Cost function
Degrees of freedom
Dynamic loads
Dynamic programming
Economic models
Evolutionary algorithms
Genetic algorithms
Laboratories
Linear programming
Load carrying capacity
Loads (forces)
Manipulators
Mathematical analysis
Mathematical models
Mathematical problems
Methods
Multiple objective analysis
Planning
Robot arms
Robot dynamics
Robotics
Robots
Sorting algorithms
Trajectory optimization
Trajectory planning
Travel time
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Title A New Methodology for Solving Trajectory Planning and Dynamic Load-Carrying Capacity of a Robot Manipulator
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