Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.
Robot motion planning between two given configurations in the time domain has a great impact on robotic applications. In the presence of link flexibility, the problem becomes more difficult and critical to be solved. A two-link flexible manipulator is proposed in this study, where the manipulator's joints are required to undergo a rest-to-rest maneuvering. Two trajectories are assumed, a fourth order polynomial and soft motion trajectories1 the Genetic Algorithm is employed to optimize the unknown parameters of the fourth order trajectory in such away that minimizes the energy consumption during motion. The mathematical model of the manipulator is obtained using the extended Hamilton's principle, where the flexible links are treated using Euler-Bernoulli's beam theory. Simulation study for the optimized joints' torques for the two trajectories is introduced and a comparison between them is carried out based on the minimum energy consumption.
Trajectory planning for robot manipulators is very important in achieving high productivity and excellent accuracy. One of the objectives nowadays is the minimum energy consumption due to the increase in the petroleum prices and the difficulty in the supply lines as well. It is the objective of this paper to design the trajectory of the manipulator based on the minimum energy consumption per cycle of the motors running the manipulator. The selected trajectory will be checked also against the jerk as well to ensure that the robot will not vibrate at the beginning and at the end of any task. A seventh-degree polynomial trajectory is selected to study the effect of the jerk on the trajectory and the torques of the joints as well. The proposed trajectory will be checked through a three degree-of-freedom robotic arm in both horizontal and vertical maneuvering.
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