Evolutionary indirect approach to solving trajectory planning problem for industrial robots operating in workspaces with obstacles

Fares J. Abu-Dakka*, Francisco Rubio, Francisco Valero, Vicente Mata

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

Abstract

In this paper, an indirect method for trajectory planning for industrial robots has been addressed using an evolutionary algorithm. The algorithm is divided into three stages: (1) The acquisition of Adjacent Configurations (AC) for Path Planning subjected to kinematics, geometric and obstacle avoidance constraints. (2) The acquisition of a collision-free path between initial and goal robot configurations. This path consists of a set of ACs, and (3) The acquisition of a temporal history of the evolution for the robot joint coordinates, by minimizing the required time subjected to actuator limits. This algorithm has been evaluated by comparing the results with the direct procedures proposed by Rubio articles in 2009 and 2010. (C) 2013 Elsevier Masson SAS. All rights reserved.

Original languageEnglish
Pages (from-to)210-218
Number of pages9
JournalEUROPEAN JOURNAL OF MECHANICS A: SOLIDS
Volume42
DOIs
Publication statusPublished - 2013
MoE publication typeA1 Journal article-refereed

Keywords

  • Trajectory planning
  • Obstacle avoidance
  • Genetic algorithms
  • Simultaneous algorithm
  • Manipulators
  • Optimisation
  • Account

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