Title :
A genetic/interval approach to optimal trajectory planning of industrial robots under torque constraints
Author :
Bianco, C. Guarino Lo ; Piazzi, A.
Author_Institution :
Dip. di Ing. dell´Inf., Univ. di Parma, Parma, Italy
fDate :
Aug. 31 1999-Sept. 3 1999
Abstract :
In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.
Keywords :
industrial manipulators; interpolation; manipulator dynamics; path planning; torque; trajectory control; cubic polynomial joint interpolation scheme; genetic-interval approach; global optimization algorithm; industrial multilink robots; minimum time trajectory; optimal trajectory planning; rigid-link full dynamics model; torque constraints; two-link arm; Genetics; Joints; Optimization; Planning; Robots; Torque; Trajectory; Trajectory planning; mechanical manipulators; nonlinear dynamics; semi-infinite optimization; torque constraints;
Conference_Titel :
Control Conference (ECC), 1999 European
Conference_Location :
Karlsruhe
Print_ISBN :
978-3-9524173-5-5
