A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

Yong Ting Zhao; Bin Zheng; Hong Lin Ma

doi:10.4028/www.scientific.net/AMM.602-605.1352

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 602-605A New Method of 6-DOF Serial Robot’s Trajectory...

A New Method of 6-DOF Serial Robot’s Trajectory Planning under Multi-Constraints

Abstract:

This paper proposes a new method of 6-DOF serial robot’s trajectory planning. Ensuring to satisfy the physical constraints of space conditions, the robot’s trajectory is interpolated in the Cartesian coordinate system, and using quaternion interpolation to solve the multiple solution problem in RPY interpolation. Meanwhile, the interpolated position information is transformed into the angular displacement information of the joint coordinate system, and the joint space trajectory planning is achieved using the genetic algorithms integrated velocity, acceleration, jerk and torque and other important kinematic and dynamic constraints. In robot safety and stability, the method is better than the general approach, and it has both the ideal trajectory parameters of the global search ability and performance planning.

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Periodical:

Applied Mechanics and Materials (Volumes 602-605)

Pages:

1352-1357

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.602-605.1352

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Online since:

August 2014

Authors:

Yong Ting Zhao*, Bin Zheng, Hong Lin Ma

Keywords:

6-DOF Serial Robot, Genetic Algorithm (GA), Quaternion, Trajectory Planning

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