TIME-JERK OPTIMAL PLANNING OF INDUSTRIAL ROBOT TRAJECTORIES

被引：26

作者：

Liu Feifei ^{[1
]}

Lin Fei ^{[2
]}

机构：

[1] Jiangxi Univ Sci & Technol, Inst Elect Engn & Automat, Beijing, Peoples R China

[2] Jiangxi Univ Sci & Technol, Inst Elect Engn & Automat, Dept Ind Robots Expt Ctr, Nanjing, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2016年 / 31卷 / 01期

关键词：

Trajectory planning; robot; genetic algorithm; cubic splines; electrolytic copper; MANIPULATORS;

D O I：

10.2316/Journal.206.2016.1.206-4055

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Weighted coefficient method to establish a time-jerk optimal trajectory planning model within a joint space scheme using cubic splines, which considering the joint velocity, acceleration, secondary acceleration constraints according to the heavy load and the high-speed handling characteristics conditions for electrolytic copper transport robot. An improved adaptive genetic algorithm is presented in this paper to achieve the optimal model search. Simulation results show that the optimisation model is effective.

引用

页码：1 / 7

页数：7

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