Optimal transitional trajectory generation for automatic machines
by Zhe Tang; Qiang Zhou; Fang Qi; Jianxin Wang
International Journal of Computational Science and Engineering (IJCSE), Vol. 12, No. 2/3, 2016

Abstract: Because of the variety of automatic machine applications, the optimisation objectives of trajectory generation are very different. For arc welding robots, the movement speed is required to be constant, and the trajectory error must be within welding technical limits. To satisfy these requirements, a linear line is used for the generation of line segments. The circular curve is adopted for the transitional segments generation. The trajectory composed by linear line and circular curve is able to ensure the continuity of position and velocity. But there are discontinuities in acceleration. To reduce the discontinuities and energy consumption, a general optimisation approach using genetic algorithms is adopted in this paper to generate an optimal trajectory with constant velocity. The proposed method implemented in the embedded system of a robot or CNC machine is able to ensure that the transitional acceleration and error is as small as possible.

Online publication date: Thu, 28-Apr-2016

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Computational Science and Engineering (IJCSE):
Login with your Inderscience username and password:

    Username:        Password:         

Forgotten your password?


Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com