Multi-Objective Performance Criteria Optimization For A Redundant Dof Robot Based On Differential Evolution

Because of the character of the redundant degree of freedom robot which is different from the traditional non-redundant robot, the operation performance is able to be improved by using the various joint configuration produced through the self-motion, when it can make sure the kinematic law of the end effector, which is a significant implication for the redundant DOF robot. The performance optimization for a redundant robot usually adopts the approach based on gradient projection method, which is essentially a local optimization algorithm. It is easy to fall into local optimization. Consequently, it is hard to make sure that redundant robot achieves optimization globally.In view of this, this paper aiming at a planar 3 degrees of freedom redundant robot presents a single or multiple performance optimization method based on differential evolution (DE). The algorithm is improved by analyzing the basic idea and process, which is designed to realize the single objective performance optimization for the redundant degree of freedom (DOF) robot; Moreover, a method based on non-dominated sorting differential evolution (NSDE) for the multi-objective performance optimization of the redundant DOF robot is proposed. By analyzing cross operator, mutation operator, selection operator and so on, it is successful to design the step of multi-objective performance optimization for the redundant DOF robot based on NSDE.At last, this paper utilizes MATLAB as the mathematic tool to experiment. The results show that the optimization method based on DE is able to optimize the single or multiple objective performance for the redundant robot. Comparing with gradient projection method, it is so hard for DE method to fall into the local optimization that the redundant robot can achieve optimization globally, and the effect is more evident.