INSGA-II based multi-objective trajectory planning for manipulators

摘要

A new multi-objective optimization algorithm was proposed to plan the trajectory of manipulators under more objectives,including time optimal,energy optimal,and smoothness optimal.The high-degree B-spline was adopted to construct a continuous path with controllable start-stop kinematic parameters which guaranteed the motion performance of manipulators.The improved non-dominated sorting genetic algorithm-Ⅱ(INSGA-Ⅱ)was applied to optimize the trajectory of manipulators in order to get a set of Pareto optimal solution aggregate.The algorithm used one-dimensional Logistic mapping to generate the initial populations and infeasibility degree selection to handle the constraints.The results on a six-degree of freedom serial robot manipulator show that high-degree B-spline can get high-degree continuous trajectories.INSGA-II provides an effective approach to do a multi-objective optimal for B-spline and can obtain good distributed Pareto solutions providing more choices for users.