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12 December 2021 Research on trajectory optimization of six-degree-of-freedom industrial robot
Jinliang Li, Mingyuan Xue, Bin Zhang, Junwei Zhang
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Proceedings Volume 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021); 121270Z (2021) https://doi.org/10.1117/12.2625240
Event: International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 2021, Qingdao, China
Abstract
Aiming at the requirements of motion stability and work efficiency in the actual working process of industrial robots, a time-optimal trajectory planning method for industrial robots with six degrees of freedom is proposed. Taking the six-degree-of-freedom robot PUMA560 as an example, a cubic B-spline curve is used to connect each adjacent path point to express the trajectory, and then the B-spline function trajectory is modified through an improved genetic algorithm to make the robot arm complete the work under the condition of joint constraints with the shortest time.
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Jinliang Li, Mingyuan Xue, Bin Zhang, and Junwei Zhang "Research on trajectory optimization of six-degree-of-freedom industrial robot", Proc. SPIE 12127, International Conference on Intelligent Equipment and Special Robots (ICIESR 2021), 121270Z (12 December 2021); https://doi.org/10.1117/12.2625240
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KEYWORDS
Genetic algorithms
Optimization (mathematics)
Kinematics
Robotics
Genetics
Statistical analysis
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