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论文类型：期刊论文

发表时间：2017-08-09

发表刊物：INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION

收录刊物：Scopus、SCIE、EI

卷号：32

期号：4

页面范围：396-405

ISSN号：0826-8185

关键字：Motion planning; kinematics; quintic spline; robot manipulators; minimum-time optimization; elitist genetic algorithm

摘要：In this paper, a new method for planning high smooth and time-optimal motion for robot manipulators is presented. In our method, the angular velocity, acceleration and jerk of each axis are planned and limited to avoid robot strenuous vibration. Quintic spline curve is used to make the kinematic parameters configurable for the end-point in the task status of robot manipulators. Kinematics solution in the Cartesian space is provided to guarantee the controllability and accuracy for the end-effector. A highlight of the proposed method is that the minimum-time issue can be successfully solved by using the elitist genetic algorithm with a rather higher convergence rate. Experiments were made to demonstrate the effectiveness of the proposed method.