Abstract
The trajectory planning time is uncertain when there is no velocity constraint in the joint space of an operating robot. This paper proposes a 3-5-3 polynomial interpolation trajectory planning algorithm based on improved cuckoo search algorithm (ICS) which functions under a velocity constraint. Kinematics analysis of the robot is conducted and the 3-5-3 polynomial interpolation function is established as the foundation for trajectory planning. The size of the step size control factor is set as a variant which varies with the number of iterations, which accelerates the algorithm’s convergence and prevents premature falling into the local optimal solution, both problems in the traditional cuckoo search algorithm where the step size control factor is fixed. The proposed algorithm was used to optimize the trajectory of a test robot with interpolation time as the search space for optimization. Any interpolation time that did not meet the speed constraint was eliminated to secure the shortest possible robot running time. The UR robot was taken as a research object to simulate the joint motion trajectory planning in MATLAB. The proposed algorithm performed well and better realized the time-optimal trajectory under the constraint of speed compared to the traditional cuckoo search algorithm, particle swarm optimization algorithm, and genetic algorithm.
Highlights
Trajectory planning is the basis of robot motion control
This paper proposes a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on the cuckoo search algorithm under a velocity constraint
This improves the convergence speed of the original cuckoo search algorithm and prevents falling into the local optimal solution prematurely, which is the case when the step size control factor is fixed
Summary
Trajectory planning is the basis of robot motion control. Existing trajectory planning algorithms are developing towards intelligence as our technological environment grows continually sophisticated. This paper proposes a time-optimal 3-5-3 polynomial interpolation trajectory planning algorithm based on the cuckoo search algorithm under a velocity constraint. The improved cuckoo search algorithm can optimize interpolation time under the speed constraint and determine the quickest trajectory of the robot . To complete the specified motion of the robot in joint space, the joint angles can be solved via inverse kinematics solution as per the starting point, dropping point, and end point positions corresponding to the polynomial interpolation function. This makes the robot end pass through the required path point to satisfy the given trajectory.
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