Motion Trajectory Planning of Space Manipulator for Joint Jerk Minimization

Abstract

The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

Optimal Trajectory Planning of Grinding Robot Based on Improved Whale Optimization Algorithm

“…Joint Angle trajectory is smooth and continuous, and the driving torque of the robot joint angle is minimized while the attitude adjustment of the free-floating space robot is completed. To obtain the optimal solution for the trajectory of the space robot, a multiobjective particle swarm optimization method is used in [16]. Invasive Weed Optimization algorithm is used to research the optimal solution for a robot arm in [17].…”

Robots in machining

“…In this case, general-purpose optimization approaches must be adopted, like in Ref. [44], where the norm of jerk for the robot joints is minimized numerically by a genetic algorithm. A similar approach is proposed also in Ref.…”

Real-Time Acceleration-Continuous Path-Constrained Trajectory Planning With Built-In Tradeoff Between Cruise and Time-Optimal Motions

“…The path accelerations 1 ands 2 of l 1 and l 2 at s p 1 are obtained by substituting the path coordinate and path velocity (25) and (26), respectively. According to (25) and (26), the difference betweens 1 ands 2 is equal to zero. Thus, the path acceleration of the velocity profile consisting of l 1 and l 2 is continuous at s p 1 .…”