Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

Xu, Zequan; Wang, Wei; Chi, Yixiang; Li, Kun; He, Leiying

doi:10.3390/electronics12132928

Open AccessArticle

Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

by

Zequan Xu

^1,2,

Wei Wang

^1,2,3,*,

Yixiang Chi

^1,2,

Kun Li

^1,2 and

Leiying He

^1,2,*

¹

School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, China

²

Key Laboratory of Modern Textile Equipment Technology of Zhejiang Province, Zhejiang Sci-Tech University, Hangzhou 310018, China

³

State Key Laboratory of Fluid Power and Mechatronic Systems, School of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China

^*

Authors to whom correspondence should be addressed.

Electronics 2023, 12(13), 2928; https://doi.org/10.3390/electronics12132928

Submission received: 8 May 2023 / Revised: 18 June 2023 / Accepted: 29 June 2023 / Published: 3 July 2023

(This article belongs to the Special Issue Path Planning and Control for Robotics)

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Abstract

Path planning to generate an appropriate time sequence of positions for a complex trajectory is an open challenge in robotics. This paper proposes an optimization method with the integration of an improved ant colony algorithm and a high-order spline interpolation technique. The optimization process can be modelled as the travelling salesman problem. The greatest features of this method include: (1) automatic generation for complex trajectory and a new idea of selecting the nearest start point instead of using the traditional way of human operation; (2) an optimized motion sequence of the manipulator with the shortest length of the free-load path improves efficiency by nearly 65% and (3) trajectories both in Cartesian space and joint space are interpolated with good smoothness to reduce shocks and vibrations. Simulations and experiments are conducted to demonstrate the good properties of this method.

Keywords: manipulator; path planning; ant colony algorithm; spline interpolation

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MDPI and ACS Style

Xu, Z.; Wang, W.; Chi, Y.; Li, K.; He, L. Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint. Electronics 2023, 12, 2928. https://doi.org/10.3390/electronics12132928

AMA Style

Xu Z, Wang W, Chi Y, Li K, He L. Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint. Electronics. 2023; 12(13):2928. https://doi.org/10.3390/electronics12132928

Chicago/Turabian Style

Xu, Zequan, Wei Wang, Yixiang Chi, Kun Li, and Leiying He. 2023. "Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint" Electronics 12, no. 13: 2928. https://doi.org/10.3390/electronics12132928

APA Style

Xu, Z., Wang, W., Chi, Y., Li, K., & He, L. (2023). Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint. Electronics, 12(13), 2928. https://doi.org/10.3390/electronics12132928

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Optimal Trajectory Planning for Manipulators with Efficiency and Smoothness Constraint

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