Time-jerk synthetic optimal trajectory planning of robot based on fuzzy genetic algorithm

Authors:
Ming Cong;Xiaofei Xu;Peter Xu
Affiliations:
Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian, Liaoning Province 116024, China.;Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education, Dalian University of Technology, Dalian, Liaoning Province 116024, China.;School of Engineering and Advanced Technology, Massey University, Private Bag 102904, North Shore Mail Centre, Auckland, New Zealand
Venue:
International Journal of Intelligent Systems Technologies and Applications
Year:
2010

Citing 3
Cited 0

Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
A Study on the Comparison between Minimum Jerk and Minimum Energy of Dynamic Systems

CIMCA '05 Proceedings of the International Conference on Computational Intelligence for Modelling, Control and Automation and International Conference on Intelligent Agents, Web Technologies and Internet Commerce Vol-1 (CIMCA-IAWTIC'06) - Volume 01
A technique for time-jerk optimal planning of robot trajectories

Robotics and Computer-Integrated Manufacturing

Quantified Score

Hi-index	0.00

Visualization

Abstract

A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition. Based on cubic splines, the mathematic model of time-jerk synthetic optimal trajectory planning is built by taking into account of both the execution time and the minimax approach of jerk with kinematics constraints expressed as upper bounds on the absolute values of velocity and acceleration. For solving the mathematic model, we designed the set of fuzzy control rules and fuzzy genetic algorithm, using real-coding and elitism approach. Finally, the proposed optimal technique is tested in simulation on a three-degrees-of-freedom glass substrate handling robot. The simulation results show the effectiveness of the algorithm to solve the contradictory problem between high production efficiency and low arm vibration.