Multi-objective Optimal Trajectory Planning For Industrial Robots

With the rising labor costs,the continuous requirements for industrial enterprises to improve the quality of products,industrial robots will be more widely used.At the same time,the requirements of industrial robots are gradually increased,that it is not only requires the robot to complete the required tasks,but also to improve efficiency,save energy and run smoothly as much as possibly,.In this paper,the spline curve is used to interpolate the joint trajectory.Then,under the condition of robot dynamics and kinematics constraints,the optimal algorithm is used to find the optimal trajectory of robots' efficiency,energy consumption and impact.Based on the mechanical structure of the GJR-G2 A robot,the kinematic equation of the robot is deduced.And the analytic expressions of forward solution and inverse solution are solved.Then the Newton-Euler Equation is used to derive the dynamics equation of the robot and find the analytical expression of the joint driving torque.And then all the analytic expressions are verified with MATLAB and ADAMS.Then,the author introduces the derivation process of the common methods how to interpolate trajectory which passes path points,and by using MATLAB software,different methods are used to interpolate trajectory of a joint.The advantages and disadvantages of each method are analyzed and compared.Then the five-way spline curve is used to interpolate trajectory of joints,and the derivation process of the quintic spline curves is given.The advantages of the method are verified by MATLAB software.Finally,according to the relevant parameters of the robot,the kinematic and dynamic constraints of each joint of the robot are determined.The NSGA2 algorithm is used to model the robot trajectory optimization problem.The robot's time,energy,impact three objective functions are established.The kinematic and dynamic constraints of the robot joints are dealt with by the penalty function.Finally,a given robot path points are given to plan the multi-objective optimal trajectory of the robot,and the Pareto frontier distribution and the optimal solutions are obtained.Then,establishing the virtual prototype by using ADAMS,the simulation of the multi-objective optimization trajectory is carried out,and the feasibility of the method is proved.By designing a GUI,the trajectory optimization method described in this paper is realized more easily.