Time-Optimal Trajectory Planning Algorithm Based on DE for Manipulator
Wang Xue-ku · Jisuanji fangzhen · 2015
Based on the instability,quickness and velocity limitation of 6- DOF manipulator in the process of grasping objects,a Time- optimal 3- 5- 3 polynomial interpolation trajectory planning algorithm was proposed based on Differential evolution algorithm( ED). According to the velocity limitation of manipulator,the characteristics of simple structure and easily adjusted parameters of ED prove the effectiveness of the method. The comparison between the algorithm and traditional spline interpolation on the position,velocity and acceleration of the movement shows that the running time of the algorithm is shorter,and its stability and fluidity are better.