Trajectory Planning of a 6D Robot based on Meta Heuristic Algorithms

In this work, several established meta-heuristics (MHs) were employed for solving 6-DOF robot trajectory planning. A fourth order polynomial function is used to represent a motion path of the robot from initial to final points while an optimisation problem is posed to minimise travelling time subjec...

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Vydáno v:MATEC web of conferences Ročník 220; s. 6004
Hlavní autoři: Wichapong, Kritsada, Pholdee, Nantiwat, Bureerat, Sujin, Radpukdee, Thana
Médium: Journal Article Konferenční příspěvek
Jazyk:angličtina
Vydáno: Les Ulis EDP Sciences 01.01.2018
Témata:
Acceleration
Algorithms
Polynomials
Robot arms
Robot dynamics
Robots
Trajectory optimization
Trajectory planning
Travel time
ISSN:2261-236X, 2274-7214, 2261-236X
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Shrnutí:In this work, several established meta-heuristics (MHs) were employed for solving 6-DOF robot trajectory planning. A fourth order polynomial function is used to represent a motion path of the robot from initial to final points while an optimisation problem is posed to minimise travelling time subject to velocity, acceleration and jerk constraints. The design variables are joint velocities and accelerations at intermediate positions, and moving time from the initial position to the intermediate position and from the intermediate position to the final position. Several MHs are used to solve the trajectory optimisation problem of robot manipulators while their performances are investigated. Based on this study, the best MH for robot trajectory planning is found while the results obtained from such a method are set as the baseline for further study of robot trajectory planning optimisation.
Bibliografie:ObjectType-Conference Proceeding-1
SourceType-Conference Papers & Proceedings-1
content type line 21
ISSN:2261-236X
2274-7214
2261-236X
DOI:10.1051/matecconf/201822006004