Kinematic and Dynamic Optimal Trajectory Planning of Industrial Robot Using Multi-objective Ant Lion Optimizer

2020 ◽  
pp. 1475-1486
Author(s):  
Amruta Rout ◽  
Golak Bihari Mahanta ◽  
Balamurali Gunji ◽  
B. B. V. L. Deepak ◽  
Bibhuti Bhusan Biswal
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Industrial Robot ◽  
Multi Objective ◽  
Ant Lion Optimizer ◽  
Ant Lion ◽  
Optimal Trajectory Planning

Optimal Trajectory Planning of a Mobile Manipulator for Disinfection Using Multi-objective Genetic Algorithm

2021 ◽  
pp. 80-91
Author(s):  
Rodríguez Humberto ◽  
Banfield Ilka ◽  
Echeverría Octavio ◽  
Hazameh Farid ◽  
Montes Héctor
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Mobile Manipulator ◽  
Multi Objective ◽  
Multi Objective Genetic Algorithm ◽  
Optimal Trajectory Planning

scholarly journals Optimal Trajectory Planning of Grinding Robot Based on Improved Whale Optimization Algorithm

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Ting Wang ◽  
Zhijie Xin ◽  
Hongbin Miao ◽  
Huang Zhang ◽  
Zhenya Chen ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Optimal Trajectory ◽  
Spline Interpolation ◽  
Industrial Robot ◽  
Differential Evolution Algorithm ◽  
Whale Optimization Algorithm ◽  
Human Beings ◽  
Whale Optimization ◽  
Optimal Trajectory Planning

Robot will be used in the grinding industry widely to liberate human beings from harsh environments. In the grinding process, optimal trajectory planning will not only improve the processing quality but also improve the machining efficiency. The aims of this study are to propose a new algorithm and verify its efficiency in achieving the optimal trajectory planning of the grinding robot. An objective function has been defined terms of both time and jerk. Improved whale optimization algorithm (IWOA) is proposed based on whale optimization algorithm (WOA) and differential evolution algorithm (DE). Mutation operation and selection operation of DE are imitated in the part of initialization to process the population initialized by WOA, and then, the search tasks of WOA are performed. Motion with a constant velocity of the end-effector is considered during fine grinding. The continuity of acceleration and velocity will be achieved by minimizing jerk, and at the same time, smooth robot movement can be obtained. Cubic spline interpolation is implemented. A six-axis industrial robot is used for this research. Results show that optimal trajectory planning based on IWOA is more efficient than others. This method presented in this paper may have some indirect significance in robot business.

Time-Optimal Trajectory Planning for Anti-Sloshing 2-Dimensional Motions of an Industrial Robot

2021 ◽  
Author(s):  
Roberto Di Leva ◽  
Marco Carricato ◽  
Hubert Gattringer ◽  
Andreas Muller
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Industrial Robot ◽  
Time Optimal ◽  
Optimal Trajectory Planning

Quasi-optimal trajectory planning and control of a CRS A251 industrial robot

2002 ◽  
Vol 216 (4) ◽  
pp. 343-356
Author(s):  
J V Miro ◽  
A S White
Keyword(s):  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Industrial Robot ◽  
Minimum Principle ◽  
Terminal Phase ◽  
Planning Problem ◽  
Fundamental Parameter ◽  
Feedback Form ◽  
Open Chain ◽  
Optimal Trajectory Planning

A near-optimal solution to the path-unconstrained time-optimal trajectory planning problem is described in this paper. While traditional trajectory planning strategies are entirely based on kinematic considerations, manipulator dynamics are usually neglected altogether. The strategy presented in this work has two distinguishing features. Firstly, the trajectory planning problem is reformulated as an optimal control problem, which is in turn solved using Pontryagin's maximum/minimum principle. This approach merges the traditional division of trajectory planning followed by trajectory tracking into one process. Secondly, the feedback form compensates for the dynamic approximation errors derived from linearization and the fundamental parameter uncertainty of the dynamic equations of motion. This approach can cope with flexible robots as well as rigid links. The terminal phase of the motion is controlled by a feedforward controller to reduce chatter vibrations. Results from simulations and an on-line implementation to a general-purpose open-chain industrial manipulator, the CRS A251, confirm the validity of the approach and show that maximizing the capabilities of the device can lead to an overall improvement in the manipulator time response of up to 24 per cent, while retaining an acceptable overshoot and steady state error regime.

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