工业机器人最优时间-反射轨迹规划外文.pdfVIP

Mechanism and Machine Theory 121 (2018) 530–544 Contents lists available at ScienceDirect Mechanism and Machine Theory journal homepage: /locate/mechmachtheory Research paper Optimal time-jerk trajectory planning for industrial robots Junsen Huang, Pengfei Hu, Kaiyuan Wu, Min Zeng∗ School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510640, China a r t i c l e i n f o a b s t r a c t Article history: A methodology for time-jerk synthetic optimal trajectory planning of robotic manipulators Received 18 March 2017 is described in this paper. The trajectory is interpolated in the joint space by means of 5th- Revised 1 September 2017 order B-spline and then optimized by the elitist non-dominated sorting genetic algorithm Accepted 10 November 2017 (NSGA-II) for two objectives, namely, traveling time and mean jerk along the whole tra- Available online 27 November 2017 jectory. 5th-order B-spline interpolation technique enables the trajectory to be constrained Keywords: in the kinematic limits of velocity, acceleration, and jerk while satisfying the continuity of Time-jerk optimal trajectory jerk. NSGA-II as a multi-objective optimization technique is used to address the time-jerk Multi-objective optimization optimal trajectory planning problem. The obtained Pareto optimal front p