Evolutionary multi-objective trajectory optimization for a redundant robot in Cartesian space considering obstacle avoidance

A method of end-effector trajectory planning in Cartesian space based on multi-objective optimization is proposed in this paper to solve the collision problem during the motion of the redundant manipulator. First, a cosine polynomial function is used to interpolate the trajectory of the end effector...

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Bibliographic Details
Published in:	Mechanical Sciences Vol. 13; no. 1; pp. 41 - 53
Main Authors:	Liu, Yong, Li, Xiang, Jiang, Peiyang, Du, Zhe, Wu, Zhe, Sun, Boxi, Huang, Xinyan
Format:	Journal Article
Language:	English
Published:	Gottingen Copernicus GmbH 08.02.2022 Copernicus Publications
Subjects:	Algorithms Analysis Cartesian coordinates End effectors Energy consumption Genetic algorithms Inverse kinematics Kinematics Manipulators Materials of engineering and construction. Mechanics of materials Mathematical optimization Multiple objective analysis Obstacle avoidance Optimization algorithms Particle swarm optimization Polynomials Researchers Robotics Robots TA401-492 Trajectory optimization Trajectory planning Trigonometric functions Velocity
ISSN:	2191-916X, 2191-9151, 2191-916X
Online Access:	Get full text
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