MOPSO Based Multi-objective Trajectory Planning for Robot Manipulators

摘要

In this paper, an interpolation method based on five order B-spline is proposed to construct continuous curves in joint space for manipulators, this method can ensure the continuity of velocity, acceleration and jerk in joint moving process. At the same time, the velocity, acceleration and jerk at both start and stop moment can be adjusted. Then the MOPSO algorithm is used to optimize these curves under three objectives, including time optimal, distance optimal, and energy optimal. The algorithm results in a set of Pareto optimal solution aggregates. Fuzzy judgment is then proposed to select one potential solution from the Pareto optimal solution aggregates.