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Author Ming Cong ♦ Xiaofei Xu ♦ Xu, P.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2008
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword trajectory planning ♦ Minimax techniques ♦ Time-jerk ♦ Mathematics ♦ Genetic algorithms ♦ Orbital robotics ♦ Robot motion ♦ Motion planning ♦ Fuzzy control ♦ fuzzy genetic algorithm ♦ Trajectory ♦ Acceleration ♦ Mathematical model ♦ cubic splines
Abstract A new approach based on fuzzy genetic algorithm is developed to find the time-jerk synthetic optimal trajectory of robot with a joint space scheme using cubic splines. In order to get the optimal trajectory, cubic splines are employed and derived under the constraint condition of velocity and acceleration of the first and last point, which assure overall continuity of velocity and accelerations on robot motion. Based on cubic splines, the mathematic model of time-jerk synthetic optimal trajectory planning is built taking into account both the execution time and minimax approach of jerk with kinematics constraints expressed as upper bounds on the absolute values of velocity and acceleration. For solving the mathematic model, we designed the set of fuzzy control rules and fuzzy genetic algorithm, using real-coding and elitism approach. Finally, the proposed optimal technique is tested in simulation on a three-degrees-of-freedom glass substrate handling robot. The simulation results show the effectiveness of the algorithm to solve the contradictory problem between high production efficiency and low arm vibration.
Description Author affiliation: Key Lab. for Precision & Non-traditional Machining Technol., Dalian Univ. of Technol., Dalian (Ming Cong; Xiaofei Xu) || Sch. of Eng. & Adv. Technol., Massey Univ., Auckland (Xu, P.)
ISBN 9781424437795
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2008-12-02
Publisher Place New Zealand
Rights Holder Intl Journal of Intelligent
Size (in Bytes) 2.66 MB
Page Count 6
Starting Page 274
Ending Page 279


Source: IEEE Xplore Digital Library