A genetic/interval approach to optimal trajectory planning of industrial robots under torque constraints

摘要

In this paper an optimal trajectory planning problem for industrial multi-link robots is considered. Using a cubic polynomial joint interpolation scheme, a minimum time trajectory under torque constraints is planned via a global optimization algorithm proposed by the authors. This proposed optimization method takes into account a rigid-link full dynamics model. Numerical results for a two-link arm, related to a 10 knots trajectory, are reported.