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Point-to-Point trajectory planning of flexible redundant robot manipulators using genetic algorithms

Published online by Cambridge University Press:  23 May 2002

Shigang Yue ,
Dominik Henrich ,
W. L. Xu  and
S. K. Tso
Shigang Yue
Affiliation:
Embedded Systems and Robotics (RESY), Informatics Faculty, University of Kaiserslautern, D–67653 Kaiserslautern (Germany)shigang@informatik.uni-kl.de Website: http://resy.informatik.uni-kl.de/
Dominik Henrich
Affiliation:
Embedded Systems and Robotics (RESY), Informatics Faculty, University of Kaiserslautern, D–67653 Kaiserslautern (Germany)henrich@informatik.uni-kl.de
W. L. Xu
Affiliation:
Institute of Technology and Engineering, Massey University, Palmerston North (New Zealand)
S. K. Tso
Affiliation:
Center for Intelligent Design, Automation and Manufacturing, City University of Hong Kong, Kowloon (Hong Kong)
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Abstract

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The paper focuses on the problem of point-to-point trajectory planning for flexible redundant robot manipulators (FRM) in joint space. Compared with irredundant flexible manipulators, a FRM possesses additional possibilities during point-to-point trajectory planning due to its kinematics redundancy. A trajectory planning method to minimize vibration and/or executing time of a point-to-point motion is presented for FRMs based on Genetic Algorithms (GAs). Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomial are used to describe the segments that connect the initial, intermediate, and final points in joint space. The trajectory planning of FRM is formulated as a problem of optimization with constraints. A planar FRM with three flexible links is used in simulation. Case studies show that the method is applicable.

Keywords

RedundancyFlexible-link robotTrajectory planningPoint-to-pointVibrationGenetic algorithms
Type
Research Article
Information
Robotica , Volume 20 , Issue 3 , May 2002 , pp. 269 - 280
Copyright
2002 Cambridge University Press