Optimal trajectory planning for industrial robot based on hybrid genetic algorithm

摘要

In order to improve industrial robot's productivity and get a smooth trajectory,a new method for quadratic trajectory planning based on hybrid genetic algorithm is presented.Minimum execution time is obtained by using time-optimal trajectory planning,then an efficient and smooth trajectory is generated in this minimum execution time by using jerk-optimal trajectory planning.Fifth-order uniform B-splines are used to interpolate a sequence of joint variables and the velocity,acceleration and jerk of each joint trajectorys are continuous.With continuous and smooth jerk,mechanical resonance is reduced and the life span of industrial robot is extended.The method is applied to PUMA560,the result of simulation and experimentation shows that the method can provide ideal trajectory and the hybrid genetic algorithm is more efficient and stable.