A Multi-Objective Trajectory Planning Method for Collaborative Robot

摘要

Aiming at the characteristics of high efficiency and smoothness in the motion process of collaborative robot, a multi-objective trajectory planning method is proposed. Firstly, the kinematics model of the collaborative robot is established, and the trajectory in the workspace is converted into joint space trajectory using inverse kinematics method. Secondly, seven-order B-spline functions are used to construct joint trajectory sequences to ensure the continuous position, velocity, acceleration and jerk of each joint. Then, the trajectory competitive multi-objective particle swarm optimization (TCMOPSO) algorithm is proposed to search the Pareto optimal solutions set of the robot’s time-energy-jerk optimal trajectory. Further, the normalized weight function is proposed to select the appropriate solution. Finally, the algorithm simulation experiment is completed in MATLAB, and the robot control experiment is completed using the Robot Operating System (ROS). The experimental results show that the method can achieve effective multi-objective optimization, the appropriate optimal trajectory can be obtained according to the actual requirements, and the collaborative robot is actually operating well.