A Multi-Objective Trajectory Planning Method for Collaborative Robot

Electronics

Guangjun Liu¹  Yinggang Xie²  Jiangyu Lan²  Manxin Cao² 

[1] Department of Aerospace Engineering, Ryerson University, Toronto, ON M5B 2K3, Canada;School of Information and Communication Engineering, Beijing Information Science and Technology University, Beijing 100101, China;

关键词: collaborative robot;    trajectory planning;    B-spline;    multi-objective optimization;   

DOI  :  10.3390/electronics9050859

来源: DOAJ

【 摘 要 】

Aiming at the characteristics of high efficiency and smoothness in the motion process of collaborative robot, a multi-objective trajectory planning method is proposed. Firstly, the kinematics model of the collaborative robot is established, and the trajectory in the workspace is converted into joint space trajectory using inverse kinematics method. Secondly, seven-order B-spline functions are used to construct joint trajectory sequences to ensure the continuous position, velocity, acceleration and jerk of each joint. Then, the trajectory competitive multi-objective particle swarm optimization (TCMOPSO) algorithm is proposed to search the Pareto optimal solutions set of the robot’s time-energy-jerk optimal trajectory. Further, the normalized weight function is proposed to select the appropriate solution. Finally, the algorithm simulation experiment is completed in MATLAB, and the robot control experiment is completed using the Robot Operating System (ROS). The experimental results show that the method can achieve effective multi-objective optimization, the appropriate optimal trajectory can be obtained according to the actual requirements, and the collaborative robot is actually operating well.

【 授权许可】

Unknown