Title: Optimal trajectory planning for industrial robot along a specified path with payload constraint using trigonometric splines

Authors: Shital S. Chiddarwar; N. Ramesh Babu

Addresses: Department of Mechanical Engineering, Shri Ramdeobaba Kamla Nehru Engineering College, Ramdeo Tekadi, Katol Road, Nagpur 440013, Maharashtra, India ' Manufacturing Engineering Section, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600036, Tamil Nadu, India

Abstract: This paper presents a general methodology for the offline planning of trajectory of a six axis serial robot along a specified path. The objective of trajectory planning is to minimise a cost function when subjected to joint angles, joint velocities, acceleration, jerks, torques and gripping force constraints by considering dynamic of the robot. A trigonometric spline is used to represent the trajectory. This non-linear constrained optimisation problem consists of 6 objectives, 67 constraints and 48 variables. The cost function is a weighted balance of travelling time, actuator torques, singularity avoidance, joint jerks, joint accelerations and gripping force. The optimisation problem is solved by using two methods, namely sequential quadratic programming and genetic algorithm. The proposed methodology is implemented for trajectory planning of six degree of freedom industrial robot and results obtained with two optimisation techniques are compared.

Keywords: optimal trajectory planning; SQP; sequential quadratic programming; trigonometric splines; multi-objective optimisation; GA; genetic algorithms; robot trajectories; robot dynamics; travelling time; actuator torques; singularity avoidance; joint jerks; joint accelerations; gripping force.

DOI: 10.1504/IJAAC.2012.045439

International Journal of Automation and Control, 2012 Vol.6 No.1, pp.39 - 65

Received: 17 Mar 2011
Accepted: 13 Aug 2011
Published online: 31 Oct 2014 *

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