Liu Feifei and Lin Fei
Trajectory planning, robot, genetic algorithm, cubic splines, electrolytic copper
Weighted coefficient method to establish a time-jerk optimal trajectory planning model within a joint space scheme using cubic splines, which considering the joint velocity, acceleration, secondary acceleration constraints according to the heavy load and the high-speed handling characteristics conditions for electrolytic copper transport robot. An improved adaptive genetic algorithm is presented in this paper to achieve the optimal model search. Simulation results show that the optimisation model is effective.
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