Smooth and multi-objective optimal motion planning for delta robot

This paper presents a method for smooth and optimal motion planning of delta parallel robot. The motion is smooth by using the fifth-order B-spline, the robot's kinematic, dynamic, and geometric constraints can be formulated in terms of B-spline parameters as well. In addition, the motion time, energy consumed and maximum jerk of delta end-effector are taken as objective functions in this paper. Therefore, the optimal motion planning is formulated as an optimization problem with nonlinear constraints, which can be solved by the non-dominated sorting genetic algorithm-II (NSGA-II).

[1]  Torgny Brogårdh,et al.  Present and future robot control development - An industrial perspective , 2007, Annu. Rev. Control..

[2]  John M. Hollerbach,et al.  Planning of Minimum- Time Trajectories for Robot Arms , 1986 .

[3]  Les A. Piegl,et al.  The NURBS Book , 1995, Monographs in Visual Communication.

[4]  Atef A. Ata,et al.  OPTIMAL TRAJECTORY PLANNING OF MANIPULATORS: A REVIEW , 2007 .

[5]  Vladimír Bulej,et al.  DELTA ROBOTS – ROBOTS FOR HIGH SPEED MANIPULATION , 2010 .

[6]  Yury Stepanenko,et al.  Iterative dynamic programming: an approach to minimum energy trajectory planning for robotic manipulators , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[7]  A. Gasparetto,et al.  A new method for smooth trajectory planning of robot manipulators , 2007 .

[8]  R. Saravanan,et al.  Multiobjective trajectory planner for industrial robots with payload constraints , 2008, Robotica.

[9]  Mahmood Reza Azizi,et al.  An algorithm for smooth trajectory planning optimization of isotropic translational parallel manipulators , 2016 .

[10]  Aurelio Piazzi,et al.  Global minimum-jerk trajectory planning of robot manipulators , 2000, IEEE Trans. Ind. Electron..

[11]  Zexiang Li,et al.  Dynamics based time-optimal smooth motion planning for the delta robot , 2012, 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[12]  Kalyanmoy Deb,et al.  A fast and elitist multiobjective genetic algorithm: NSGA-II , 2002, IEEE Trans. Evol. Comput..

[13]  Darwin G. Caldwell,et al.  Elliptical point to point trajectory planning using electronic cam motion profiles for high speed industrial pick and place robots , 2009, 2009 IEEE Conference on Emerging Technologies & Factory Automation.

[14]  E. Croft,et al.  Smooth and time-optimal trajectory planning for industrial manipulators along specified paths , 2000 .

[15]  Alain Codourey,et al.  Dynamic Modeling of Parallel Robots for Computed-Torque Control Implementation , 1998, Int. J. Robotics Res..

[16]  Vladimír Bulej,et al.  Delta roboti – roboti za rukovanje velikom brzinom , 2011 .