Evolutionary multi-objective trajectory optimization for a redundant robot in Cartesian space considering obstacle avoidance
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Published:2022-02-08
Issue:1
Volume:13
Page:41-53
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ISSN:2191-916X
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Container-title:Mechanical Sciences
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language:en
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Short-container-title:Mech. Sci.
Author:
Liu YongORCID, Li Xiang, Jiang Peiyang, Du Zhe, Wu Zhe, Sun Boxi, Huang Xinyan
Abstract
Abstract. A method of end-effector trajectory planning in Cartesian
space based on multi-objective optimization is proposed in this paper to
solve the collision problem during the motion of the redundant manipulator.
First, a cosine polynomial function is used to interpolate the trajectory of
the end effector, enabling it to reach the desired pose at a specific time.
Then, the joint trajectory of the manipulator is solved by inverse
kinematics, and the null space term is introduced as the joint limit
constraint in the inverse kinematics equation. During the operation of the
manipulator, the collision detection algorithm is employed to calculate the
distance between the obstacle and each arm in real time. Finally, a
multi-objective, multi-optimization model of trajectory that considers the
obstacle avoidance, joint velocity, joint jerk and energy consumption is
established and optimized with a multi-objective particle swarm optimization
algorithm. The simulation results demonstrate that the proposed method can
effectively accomplish the trajectory planning task and avoid obstacles; the
joint trajectories obtained are smooth and meet the limit constraints; the
joint jerk and energy consumption are well suppressed.
Funder
National Natural Science Foundation of China Fundamental Research Funds for the Central Universities
Publisher
Copernicus GmbH
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
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