Combinations of novel hybrid optimization algorithms‐based trajectory planning analysis for an industrial robotic manipulators

摘要

Abstract In this paper, an optimal collision‐free trajectory is developed based on the hybrid optimization algorithms for industrial robotic manipulators (IRMs). Three IRMs such as PUMA 560 (six degrees of freedom—6DOF), KUKA LBR iiwa 14 R820 (7DOF), and ABB IRB 140 (6DOF) are considered. The key objective is to enhance the smoothness and efficiency of manufacturing robots by optimum joint trajectory design using the seventh‐order polynomial function. The proposed approach is to solve both kinematics and trajectory planning problems by using the different combinations of the hybrid meta‐heuristic algorithms. The kinematic parameters including jerk, acceleration, and velocity mostly impact the travel smoothness of the robot end‐effector on the trajectory path. Therefore, these parameters are to be constrained for generating the collision‐free path. The endurance of velocity and acceleration can be obtained by reducing the jerk which leads to smooth robotic motion. The proposed work is executed using a robotic toolbox in MATLAB with a graphical user interface. The values of acceleration, velocity, and jerk are computed for the robot joints. Each robot obtained the minimum traveling time for without and with an obstacle which is 0.0118 and 0.0313 s for PUMA and 0.0117 and 0.0310 s for KUKA, and 0.0114 and 0.0120 s for ABB IRB 140 robot. From the experimental outcomes, the proposed scheme of the hybrid optimization algorithms is more effective for the trajectory planning of IRMs than that of other works.