Optimal algorithm for trajectory planning of the robot

摘要

In order to make trajectory smooth and working time optimal,the robot's trajectory in joint space was planned with SCARA robot as research object,while considering constraints of velocity,acceleration and jerk of each joint.The time intervals between each key point in joint space were planned with genetic algorithm.Simulation of robot kinematics was based on automatic dynamic analysis of mechanical system(ADAMS),according to simulation model constructed by ADAMS/View and optimal time intervals generated by genetic algorithm.The simulation results show that the method for robot trajectory planning designed can make the robot's trajectory smooth and working time optimal.