Integrated Optimization of Trajectory Planning for Robot Manipulators Based on Intensified Evolutionary Programming

摘要

Optimal trajectory planning for robot manipulators is always the hot spot in the research field of robotics. The performance indexes used in optimal trajectory planning are classified into two main categories. One is called optimum traveling time. The other is called optimum mechanical energy of the actuators. The current trajectory planning algorithms are designed based on one of the above two performance indexes. Unfortunately, there are few planning algorithms designed to satisfy two performance indexes simultaneously. There are some deficiencies appeared in the existing integrated optimization algorithms of trajectory planning. In order to overcome those deficiencies, the integrated optimization algorithms of trajectory planning are presented based on the complete analysis for trajectory planning of robot manipulators.