Research on multi-objective motion planning of industrial robots based on NSGA-Ⅱ algorithm
In the robot system integration,the robot target object is often not a single object,and the smoothness and stability of the robot motion path are require to be high when realizing multi-objective motion,otherwise the actual running trajectory of the robot is prone to inconsistency with the planned trajectory.Therefore,a multi-objective motion planning method for industrial robots based on NSGA-Ⅱ algorithm was proposed in this study.Aiming at smoothness,movement time and energy consumption,constraints were set,a motion path model was constructed,and dynamics of the robot was analyzed based on Lagrange principle.The NSGA-Ⅱ algorithm was used to solve the model,optimize the parameters,and obtain the optimal motion trajectory of the industrial robot.Through Gazebo simulation,the effectiveness of the proposed algorithm was verified and the stable and efficient operation of the industrial robot was ensured.
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