Multi-objective trajectory planning of explosive ordnance displosal manipulators

A multi-ojective optimization technique was presented to solve the problem of explosive ordnance displosal manipulators' trajectory planning. Cubic splines were used to connect each pair of consecutive via-points. Two virtual points were introduced to ensure the initial and final conditions of velocity and acceleration to be respected. A manipulability optimization objective was developed to enhance the manipulability of mechanism. The objective functions and kinematic constraints were described by the parameters of cubic splines, so that the problem was transformed into the optimization of each time interval. The constraint NSGA-II was adopted to plan the multi-objective trajectory, which is suitable to solve optimization problems with nonlinear constraints. The procedure of the algorithm based on NSGA-II was created. Comparing with the traditional method, the simulation results indicate that the developed technique can improve the manipulability effectively and every optimization index achieved is better than the results of linear weighting coefficient technique. The obtained trajectories are smooth enough and easy to control. © 2016, Chinese Vibration Engineering Society. All right reserved.