Quasi-minimum time trajectory planning of electromagnetic attraction transfer robot arm using PTP motions

Abstract

In this study, the quasi-minimum time trajectory planning method for the electromagnetic attraction transfer control of a magnetic object by use of a two-joint robot arm with an electromagnetic attraction hand is proposed. In the quasi-minimum time trajectory planning, the trajectory polynomial expression is derived by using the boundary and continuous conditions of joint angle, joint angle velocity, and the trajectory is expressed using three genes of genetic algorithm. Then, using three genes and the genetic algorithm and defining the fitness function for the quasi-minimum time trajectory, the quasi-minimum time trajectory planning algorithm is constructed. The fitness function is defined using two constraint conditions for the allowable maximum moment applied to the magnetic object and allowable rated DC motor torque. Furthermore, the numerical calculations and the experiments are demonstrated, and the usefulness of the present quasi-minimum time trajectory planning method is confirmed.