Optimal trajectory and placement of a SCARA robot for natural yarns handling in the lattice distortion modification processing Online publication date: Mon, 16-Nov-2015
by Zina Zhu; Weiliang Xu; Zhuo Meng; Yize Sun
International Journal of Mechatronics and Manufacturing Systems (IJMMS), Vol. 8, No. 3/4, 2015
Abstract: This paper presents an application of SCARA robot for handling the natural yarn tubes in the lattice distortion modification processing system. The aim is to find the optimal trajectory and placement of the robot when executing handling operation between the conveyor and treatment tank, with regard to the minimisation of travelling time, total energy and joint jerk together by taking into account dynamic equation of motion as well as bounds on joint displacements, velocities, accelerations, jerks and torques. The quaternion spherical linear interpolation and the quantic polynomial spline techniques are utilised to construct trajectory in the work space. Furthermore, the genetic algorithm (GA) with a penalty function to deal with nonlinear constraints is used to optimise the trajectories of the robot. A simulation on the robot trajectory optimisation is carried out finally. And the results show that the appropriate placement of robot makes better performance.
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