Minimum-time trajectory of robot manipulator using Harmony Search algorithm

Abstract

The optimal trajectory planning is an important function in a robot control area. Generally, the operating function of manipulators requires the highest performance such as minimum time, minimum energy, and no damage to the system. This paper proposes a minimum time trajectory planning that is clamped with cubic splines and uses Harmony Search (HS) algorithm for solving the optimization problem. Minimum time is chosen to be the objective function as time is critical for productivities in the industrial. However, kinematics constraints such as velocities, accelerations and jerks limitation are still considered. In this work, the simulation of the 6-DOFs robot manipulator trajectory is employed to determine the minimum time trajectory planning. The best solution from two techniques, the HS and the Sequential Quadratic Programming (SQP), are compared. The results show that the HS method obtains the optimal interval time better than the SQP method and it does not require finding the initial interval time value for the optimization process. This reduces the complication and time consuming of the optimization process.

Minimum-time path planning for robot manipulators using path parameter optimization with external force and frictions

“…For example, [36,37] propose a method to find the minimum-time considering the constraints of a jerk or higher order derivatives of position. Other studies presenting an approach for minimum-time calculation subject to kinematic constraints can be found in [38][39][40]. Another approach for a robot arm with path planning is the connection of straightlines with circular arcs, perturbations about a straight-line with a Fourier series and cubic Bezier splines, as suggested in [41].…”

Trajectory Planning of a 6D Robot based on Meta Heuristic Algorithms

“…Under working functions, the robot manipulator is expected to perform at the maximum performance such as minimising travelling time, minimising energy without damaging the system. Therefore, the robot trajectory planning is usually set to be an optimization problem to minimise travelling time [1], minimise energy [2] or minimise jerk [3] subject to position, velocity and acceleration constraints and one of the recently popular optimization techniques used to deal with this kind of problem is meta-heuristics (MHs) [4].…”

“…Development of MH for a particular problem are always required to get the best optimum results. For the robot trajectory plaining, applications of MHs were reported in [1][2][3][4]. Although, some MHs have been implemented with the trajectory, there are numerous MHs developed in the part few years and most of them have never been implemented.…”

“…where c Z = angular velocity constraint for joint j c D = acceleration constraint for joint j c J = angular jerk constraint for joint j Table 1 and Table 2 shown the predefined initial points and final points to be an example for finding trajectory and constraint values for each joints [1]. .…”

A Novel Quad Harmony Search Algorithm for Grid-Based Path Finding

“…It is also possible to parallelize the algorithm, which can provide better implementation with better efficiency [3]. This algorithm has been widely used in many engineering problems, such as internet routing [4], robotics [5] and web page clustering [6], but also in other real-world applications [7], electrical engineering [8], civil engineering [9], mechanical engineering [10], bioinformatics [11] and medical applications [12]. It can be easily adapted to any optimization matters according to one's needs.…”