Title :
Research on trajectory-planning based on genetic algorithms for SCARA robot
Author :
Jue Xiong ; Xiaodong Xu ; Xiaobao Zhao ; Zhongcai Pei
Author_Institution :
Sch. of Autom. Sci. & Electr. Eng., Beihang Univ., Beijing, China
Abstract :
According to the work features and requirements of SCARA robot, a motion trajectory is planed following the request of speed and acceleration at the starting point and termination point. The planning uses the joint spatial method based on genetic-algorithms. The objective function is the moving time and mechanical impact. The target is a high-profile on the joint angles.
Keywords :
genetic algorithms; manipulators; motion control; path planning; trajectory control; SCARA robot; genetic algorithm; motion trajectory planning; objective function; Acceleration; Genetic algorithms; Manipulators; Planning; Robot kinematics; Trajectory; SCARA; genetic algorithm; high-order curve; trajectory-planning;
Conference_Titel :
Guidance, Navigation and Control Conference (CGNCC), 2014 IEEE Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4799-4700-3
DOI :
10.1109/CGNCC.2014.7007390
