TIME-JERK OPTIMAL PLANNING OF INDUSTRIAL ROBOT TRAJECTORIES

Liu Feifei and Lin Fei

References

  1. [1] V.T. Rajan, Minimum time trajectory planning, Proc. IEEE International Conference on Robotics and Automation, 1985, 759–764.
  2. [2] Aurelio Piazzi and Antonio Visioli, An interval algorithm for minimum-jerk trajectory planning of robot manipulators, Proc. 36th IEEE Conference on Decision and Control, 1997, 1924–1927.
  3. [3] Aurelio Piazzi and Antonio Visioli, Global minimum-jerk trajectory planning of robot manipulators, IEEE Transactions on Industrial Electronics, 47(1), 2000, 140–149.
  4. [4] Jan Mattm¨uller and Damian Gisler, Calculating a near time-optimal jerk-constrained trajectory along a specified smooth path, The International Journal of Advanced Manufacturing Technology, V(45), 2009, 1007–1016.
  5. [5] Yu Yang, Lin Ming, and Lin Yongcai, Optimal trajectoryplanning for industrial robot based on hybrid genetic algorithm, Computer Engineering and Design, 33(4), 2012, 1574–1580.
  6. [6] Alessandro Gasparetto, Albano Lanzutti, Renato Vidoni, and et al., Trajectory planning for manufacturing robots: algorithm definition and experimental results, Proc. ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, V(3), 2010, 609–618.
  7. [7] Vanni Zanotto, Alessandro Gasparetto, Albano Lanzutti, Paolo Boscariol, and et al., Experimental validation of minimum time-jerk algorithms for industrial robots, Journal of Intelligent & Robotic Systems, 64(2), 2011, 197–219.
  8. [8] Ming Cong, Xiaofei Xu, and Peter Xu, Time-jerk synthetic optimal trajectory planning of robot based on fuzzy genetic algorithm, International Journal of Intelligent Systems Technologies and Applications, V(8), 2010, 185–199.
  9. [9] Atef A. Ata, Optimal trajectory planning of manipulators: a review, Journal of Engineering Science and Technology, V(2), 2007, 32–54.
  10. [10] Alessandro Gasparetto and Vanni Zanotto, A technique for time-jerk optimal planning of robot trajectories, Robotics and Computer-integrated Manufacturing, 24(3), 2008, 415–426.
  11. [11] L. Davis, Hand book of genetic algorithms (New York, NY: Van Nostrand Reinhold, 1991).
  12. [12] Chun-Shin Lin, Po-Rong Chang, and J.Y.S. Luh, Formulation and optimization of cubic polynomial joint trajectories for industrial robots, IEEE Transactions on Automatic Control, 28(12), 1983, 1066–1074.
  13. [13] Kuang Hangyu, Jin Jing, and Su Yong, Improving crossover and mutation for adaptive genetic algorithm, Computer Engineering and Applications, 12, 2006, 93–96.

Important Links:

Go Back