Optimal Path Planning Algorithm with Built-In Velocity Profiling for Collaborative Robot

Abstract

This paper proposes a method for solving the path planning problem for a collaborative robot. The time-optimal, smooth, collision-free B-spline path is obtained by the application of a nature-inspired optimization algorithm. The proposed approach can be especially useful when moving items that are delicate or contain a liquid in an open container using a robotic arm. The goal of the optimization is to obtain the shortest execution time of the production cycle, taking into account the velocity, velocity and jerk limits, and the derivative continuity of the final trajectory. For this purpose, the velocity profiling algorithm for B-spline paths is proposed. The methodology has been applied to the production cycle optimization of the pick-and-place process using a collaborative robot. In comparison with point-to-point movement and the solution provided by the RRT* algorithm with the same velocity profiling to ensure the same motion limitations, the proposed path planning algorithm decreased the entire production cycle time by 11.28% and 57.5%, respectively. The obtained results have been examined in a simulation with the entire production cycle visualization. Moreover, the smoothness of the movement of the robotic arm has been validated experimentally using a robotic arm.