Trajectory planning based on multi-objective optimization for redundant robots

摘要

In this paper, a method for multi-objective optimization of trajectory planning of redundant manipulators is proposed. According to the target optimization theory and the performance index of redundant robot, the obstacle avoidance potential function is used as the inequality constraints. The optimization problem is transformed into a single objective optimization problem, and the optimal solution of the redundant manipulator is obtained, and the trajectory planning for the redundant manipulators is accomplished. The simulation analysis of the trajectory of the proposed method is carried out, and the results show the effectiveness of the proposed method.