Research on time optimal trajectory planning of 7-DOF manipulator based on genetic algorithm
نویسندگان
چکیده
Trajectory planning is the basis of robot control. A robot with seven degrees of freedom is the object of study. The shortest time is taken as the trajectory optimization target. The joint trajectory planning is carried out by using B-spline curve. Under the constraint of kinematics parameters, the time optimization of the motion trajectory is realized by using the improved genetic algorithm. The results show that the total time of manipulator is reduced obviously, and the motion trajectory of each robot joint is continuous after optimization, which verifies the effectiveness and practicability of the algorithm.
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