Genetic-based minimum-time trajectory planning of articulated manipulators with torque constraints

This paper is concerned with introducing a genetic-based algorithm for the minimum-time trajectory planning of articulated robotic manipulators. The planning procedure is performed in the configuration space and respects all physical constraints imposed on the manipulator design, including the limits on the torque values applied to the motor of each joint of the arm; consequently, the complete nonlinear dynamic robot model is incorporated in the formulation