Time-optimal trajectory planning algorithm based on AGA for manipulator
Hehua Ju · Jisuanji yingyong yanjiu · 2011
According to the velocity limitation of manipulator,proposed a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on adaptive genetic algorithm(AGA).To plan the point-to-point trajectories for manipulator working in a static environment for time-optimal,used AGA 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 simple genetic algorithm.