Optimization of Robotic Arm Trajectory Using Genetic Algorithm
نویسندگان
چکیده
The paper presents a genetic algorithm based design approach of the robotic arm trajectory control with the optimization of various criterions. The described methodology is based on the inverse kinematics problem and it additionally considers the minimization of the operating-time, and/or the minimization of energy consumption as well as the minimization of the sum of all rotation changes during the operation cycle. Each criterion evaluation includes the computationally demanding simulation of the arm movement. The proposed approach was verified and all the proposed criterions have been compared on the trajectory optimization of the industrial robot ABB IRB 6400FHD, which has six degrees of freedom.
منابع مشابه
Optimal Trajectory Generation for a Robotic Worm via Parameterization by B-Spline Curves
In this paper we intend to generate some set of optimal trajectories according to the number of control points has been applied for parameterizing those using B-spline curves. The trajectories are used to generate an optimal locomotion gait in a crawling worm-like robot. Due to gait design considerations it is desired to minimize the required torques in a cycle of gait. Similar to caterpillars,...
متن کاملOptimal Trajectory Generation for Energy Consumption Minimization and Moving Obstacle Avoidance of SURENA III Robot’s Arm
In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...
متن کاملFuzzy-Genetic Optimal Control for Four Degreeof Freedom Robotic Arm Movement
In this paper, we present optimal control for movement and trajectory planning for four degrees-of-freedom robot using Fuzzy Logic (FL) and Genetic Algorithms (GAs). We have evaluated using Fuzzy Logic (FL) and Genetic Algorithms (GAs) for four degree-of-freedom (4 DOF) robotics arm, Uncertainties like; Movement, Friction and Settling Time in robotic arm movement have been compensated using Fuz...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملOptimal Trajectory Planning of a Mobile Robot with Spatial Manipulator For Spatial Obstacle Avoidance
Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
متن کامل