Yi Liu, Ming Cong, Hang Dong, Dong Liu, and Yu Du
Motion planning, kinematics, quintic spline, robot manipulators,minimum-time optimization, elitist genetic algorithm
In this paper, a new method for planning high smooth and time- optimal motion for robot manipulators is presented. In our method, the angular velocity, acceleration and jerk of each axis are planned and limited to avoid robot strenuous vibration. Quintic spline curve is used to make the kinematic parameters configurable for the end- point in the task status of robot manipulators. Kinematics solution in the Cartesian space is provided to guarantee the controllability and accuracy for the end-effector. A highlight of the proposed method is that the minimum-time issue can be successfully solved by using the elitist genetic algorithm with a rather higher convergence rate. Experiments were made to demonstrate the effectiveness of the proposed method.
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