Time-Jerk-Optimal trajectory planning for robot manipulator
In order to improve the efficiency of the robot manipulator and reduce the jerk during its movement,a time-jerk opti-mal trajectory planning method based on a MOPSO(Multi-Objective Particle Swarm Optimization)algorithm is proposed.Aiming at the discontinuity problem of the position,velocity,acceleration and jerk of each joint,the interpolation trajectory is constructed by quintic B-spline functions.The penalty function method is used to transform the optimization problem with constraints into an unconstrained problem,reducing the computation time of the algorithm.The Pareto fronts is kept well-distributed by calculating the aggregation density between solution sets.After obtaining the uniformly distributed Pareto solution set,the maximum-minimum normalization method is applied to each of the two objectives to eliminate the effects of different dimensions in the selection of solutions.Finally,the accuracy of the pro-posed method is verified by simulation,which provides a theoretical reference for the trajectory optimization of the robot manipulator.
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