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

doi:10.1016/j.euromechsol.2013.05.007

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

Not published at Aalto University

Polytechnic University of Valencia

Research output: Contribution to journal › Article › Scientific › peer-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 language	English
Pages (from-to)	210-218
Number of pages	9
Journal	European Journal of Mechanics A: Solids
Volume	42
DOIs	https://doi.org/10.1016/j.euromechsol.2013.05.007
Publication status	Published - 2013
MoE publication type	A1 Journal article-refereed

Keywords

Trajectory planning
Obstacle avoidance
Genetic algorithms
Simultaneous algorithm
Manipulators
Optimisation
Account

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10.1016/j.euromechsol.2013.05.007

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@article{e79c879988c74b6aaa02a218b23179b9,

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

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.",

keywords = "Trajectory planning, Obstacle avoidance, Genetic algorithms, Simultaneous algorithm, Manipulators, Optimisation, Account",

author = "Abu-Dakka, {Fares J.} and Francisco Rubio and Francisco Valero and Vicente Mata",

year = "2013",

doi = "10.1016/j.euromechsol.2013.05.007",

language = "English",

volume = "42",

pages = "210--218",

journal = "European Journal of Mechanics A: Solids",

issn = "0997-7538",

publisher = "Elsevier",

}

TY - JOUR

T1 - Evolutionary indirect approach to solving trajectory planning problem for industrial robots operating in workspaces with obstacles

AU - Abu-Dakka, Fares J.

AU - Rubio, Francisco

AU - Valero, Francisco

AU - Mata, Vicente

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Trajectory planning

KW - Obstacle avoidance

KW - Genetic algorithms

KW - Simultaneous algorithm

KW - Manipulators

KW - Optimisation

KW - Account

U2 - 10.1016/j.euromechsol.2013.05.007

DO - 10.1016/j.euromechsol.2013.05.007

M3 - Article

SN - 0997-7538

VL - 42

SP - 210

EP - 218

JO - European Journal of Mechanics A: Solids

JF - European Journal of Mechanics A: Solids

ER -

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

Abstract

Keywords

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