EVOLUTIONARY ALGORITHM TO SOLVE TRAJECTORY PLANNING PROBLEM, WITH ROBOT DYNAMICS CONSIDERATIONS

Autores UPV
Año
Revista International Journal of Mechanics and Control

Abstract

This paper presents a new genetic algorithm methodology to obtain a smooth trajectory planning for industrial robots in complex environments. This method aims to gradually create the collision free trajectory as the robot moves. The presented method deals with the uncertainties associated with the unknown of the kinematic properties of intermediate via points since they are generated as the algorithm evolves towards the solution. As well, the objective of this algorithm is to minimize the trajectory time, which guide the robot motion. As an application example, this algorithm is applied over robot Puma 560. Some numerical examples are provided in this paper to evaluate the functionality of the algorithm.