Time-energy Optimal Trajectory Planning for Collaborative Welding Robot with Multiple Manipulators

Abstract

In order to minimize energy consumption and running time while ensuring the smoothness of collaborative welding robot with multiple manipulators, a methodology for optimal trajectory planning is proposed. The trajectory is interpolated in each joint space by means of cubic B-spline and motion time nodes are optimized based on particle swarm optimization(PSO) algorithm. The simulation results show that the proposed trajectory planning method provides an ideal trajectory for the joint controller, so that the robot can smoothly complete the welding task with less energy and time consumption.