Time-optimal trajectory planning for a 6R jointed welding robot using adaptive genetic algorithms
The trajectory of a revolute welding robot with six joints was planned in order to make the trajectory smooth and working time optimal. The time intervals between each point to be welded in Cartesian space were coded in binary, and the trajectory was implemented using an adaptive genetic algorithm while considering constraints of displacement, velocity, acceleration and jerk of each joint. According to the optimal time intervals generated, the results of simulation on robot kinematics show that the method designed for robot trajectory planning can obtain the goal trajectory. This method can solve the premature convergence and slow convergence problems, comparing with the simple genetic algorithm.
robot time-optimal trajectory planning adaptive genetic algorithm
Xiaoping Liao Weidong Wang Yizhong Lin Changliang Gong
College of mechanical & engineering Guangxi University Nanning,Guangxi,530004,China
国际会议
长春
英文
600-603
2010-08-24（万方平台首次上网日期，不代表论文的发表时间）