Optimization of robotic arm trajectory using genetic algorithm in cosideration of robot controller
Keywords:Robot, Trajectory planning, Genetic algorithm, PD controller with gravity compesation, Time optimization
One of the main problems in robotic is optimized trajectory planning. The planned trajectory must be optimized in moving time while satisfies motor torque and velocity and position constraints. This paper presents the design of optimized trajectory using genetic algorithm. Diffrent from other researché that calculate controlled torques from inverese dynamics of the robot, this paper calculates the controller torques from controller outputs. This proposed calcuation guarantees the similarity between design and implemetation processes. Simulations have been done to verify the effectveness of the proposed approach.
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