Time-Optimal Trajectory Planning Algorithm Based on GA for Manipulator
Rong Fu · Control Engineering of China · 2012
Since polynomial is high order and has not share the characteristic of convex hull,it is hard to be optimized by traditional optimization methods.According to the velocity limitation of manipulator,a Time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on Genetic Algorithm(GA) is proposed.To plan the point-to-point trajectories for manipulator working in a static environment for time-optimal,GA is used to get the time of polynomial interpolation.The simulation results show that the algorithm has good performance on time-optimal and stability compared with 3-5-3 polynomial interpolation trajectory planning algorithm based on PSO.