NDLI: Time-Jerk optimal Trajectory Planning of Industrial Robots Based on a Hybrid WOA-GA Algorithm

Please wait, while we are loading the content...

Time-Jerk optimal Trajectory Planning of Industrial Robots Based on a Hybrid WOA-GA Algorithm

Content Provider	MDPI
Author	Wang, Fang Wu, Zhijun Bao, Tingting
Copyright Year	2022
Description	An optimal and smooth trajectory for industrial robots has a positive impact on reducing the execution time in an operation and the vibration in their joints. In this paper, a methodology for the time-optimal and jerk-continuous trajectory planning of industrial robots is proposed. The entire trajectory is interpolated in the joint space utilizing fifth-order B-splines and then optimized by a hybrid whale optimization algorithm and genetic algorithm (WOA-GA). Two objective functions, including the integral of the squared jerk along the entire trajectory and the total execution time, are minimized to obtain the optimal entire trajectory. A fifth-order B-spline interpolation technique enables the achievement of a jerk-continuous trajectory, while respecting the kinematic limits of jerk, acceleration and velocity. WOA-GA is utilized to solve the time-jerk optimal trajectory planning problem with nonlinear constraints. The proposed hybrid optimization algorithm yielded good results and achieved the time-jerk optimal trajectory better under kinematic constraints compared to the genetic algorithm, whale optimization algorithm, improved whale optimization algorithm with particle swarm optimization and adaptive cuckoo search algorithm. The numerical results show the competent performances of the proposed methodology to generate trajectories with high smooth curves and short total execution time.
Starting Page	1014
e-ISSN	22279717
DOI	10.3390/pr10051014
Journal	Processes
Issue Number	5
Volume Number	10
Language	English
Publisher	MDPI
Publisher Date	2022-05-19
Access Restriction	Open
Subject Keyword	Processes Industrial Engineering Industrial Robots Optimal Trajectory Woa-ga B-splines
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in