[1]LI Xiaowei,HU Likun,WANG Hu.PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints[J].CAAI Transactions on Intelligent Systems,2015,10(3):393-398.[doi:10.3969/j.issn.1673-4785.201404035]
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PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 3 Page number: 393-398 Column: 学术论文—智能系统 Public date: 2015-06-25
Title:
PSO-based time optimal trajectory planning for six degrees of freedom robot manipulators with speed constraints
Author(s):
LI Xiaowei;  HU Likun;  WANG Hu
College of Electrical Engineering, Guangxi University, Nanning 530004, China
Keywords:
robot; 6 DOF manipulators; particle swarm optimization; trajectory planning; polynomial interpolation; speed constraints; time optimal
CLC:
TP183
DOI:
10.3969/j.issn.1673-4785.201404035
Abstract:
The trajectory planning is designed for robot manipulators in the joint space according to interpolation points on the premise of the solutions to the forward and inverse kinematics problems of 6-DOF (depth of field) manipulators. This paper puts forward the particle swarm optimization (PSO)-based time optimal trajectory planning of the 3-5-3 polynomial interpolation method in order to make mechanical arms run in the shortest time at a constrained speed. The PSO is proposed to optimize run time due to its simple structure and easily adjustable parameters. The polynomial interpolation time rather than coefficient is selected as searching variable in PSO optimization. If the interpolation time of three polynomials doesn’t meet the constraints, the particle will be excluded by comparison. The shortest time of the 6-DOF manipulators running at different speeds is obtained by offline PSO. Real-time experiments are conducted on the robot control platform. It shows that this method can accurately realize time optimal trajectory planning at any speed through its position, velocity and acceleration curves.
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