Abstract
Because of the variety of automatic machine applications, the optimisation objectives of trajectory generation are very different. For arc welding robots, the movement speed is required to be constant, and the trajectory error must be within welding technical limits. To satisfy these requirements, a linear line is used for the generation of line segments. The circular curve is adopted for the transitional segments generation. The trajectory composed by linear line and circular curve is able to ensure the continuity of position and velocity. But there are discontinuities in acceleration. To reduce the discontinuities and energy consumption, a general optimisation approach using genetic algorithms is adopted in this paper to generate an optimal trajectory with constant velocity. The proposed method implemented in the embedded system of a robot or CNC machine is able to ensure that the transitional acceleration and error is as small as possible.
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