Volume 7 Number 2
May 2010
Article Contents
R. Saravanan, S. Ramabalan, C. Balamurugan and A. Subash. Evolutionary Trajectory Planning for an Industrial Robot. International Journal of Automation and Computing, vol. 7, no. 2, pp. 190-198, 2010. doi: 10.1007/s11633-010-0190-8
Cite as: R. Saravanan, S. Ramabalan, C. Balamurugan and A. Subash. Evolutionary Trajectory Planning for an Industrial Robot. International Journal of Automation and Computing, vol. 7, no. 2, pp. 190-198, 2010. doi: 10.1007/s11633-010-0190-8

Evolutionary Trajectory Planning for an Industrial Robot

  • Received: 2008-06-17
通讯作者: 陈斌, bchen63@163.com
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    沈阳化工大学材料科学与工程学院 沈阳 110142

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Evolutionary Trajectory Planning for an Industrial Robot

Abstract: This paper presents a novel general method for computing optimal motions of an industrial robot manipulator (AdeptOne XL robot) in the presence of fixed and oscillating obstacles. The optimization model considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacle avoidance. The problem has 6 objective functions, 88 variables, and 21 constraints. Two evolutionary algorithms, namely, elitist non-dominated sorting genetic algorithm (NSGA-II) and multi-objective differential evolution (MODE), have been used for the optimization. Two methods (normalized weighting objective functions and average fitness factor) are used to select the best solution tradeofis. Two multi-objective performance measures, namely solution spread measure and ratio of non-dominated individuals, are used to evaluate the Pareto optimal fronts. Two multi-objective performance measures, namely, optimizer overhead and algorithm effort, are used to find the computational effort of the optimization algorithm. The trajectories are defined by B-spline functions. The results obtained from NSGA-II and MODE are compared and analyzed.

R. Saravanan, S. Ramabalan, C. Balamurugan and A. Subash. Evolutionary Trajectory Planning for an Industrial Robot. International Journal of Automation and Computing, vol. 7, no. 2, pp. 190-198, 2010. doi: 10.1007/s11633-010-0190-8
Citation: R. Saravanan, S. Ramabalan, C. Balamurugan and A. Subash. Evolutionary Trajectory Planning for an Industrial Robot. International Journal of Automation and Computing, vol. 7, no. 2, pp. 190-198, 2010. doi: 10.1007/s11633-010-0190-8
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