Trajectory Planning of a 6D Robot based on Meta Heuristic Algorithms

摘要

In this work, several established meta-heuristics (MHs) were employed for solving 6-DOF robot trajectory planning. A fourth order polynomial function is used to represent a motion path of the robot from initial to final points while an optimisation problem is posed to minimise travelling time subject to velocity, acceleration and jerk constraints. The design variables are joint velocities and accelerations at intermediate positions, and moving time from the initial position to the intermediate position and from the intermediate position to the final position. Several MHs are used to solve the trajectory optimisation problem of robot manipulators while their performances are investigated. Based on this study, the best MH for robot trajectory planning is found while the results obtained from such a method are set as the baseline for further study of robot trajectory planning optimisation.