Abstract
The mathematical expression of the kinematic equations of each joint is utilized for the path planning using a quantic polynomial in joint space. In this study, a time optimization model for path planning using genetic algorithms with a vari- ety of crossover fraction and mutation rates is investigated. The optimization process is performed with MATLAB. Optimization using boundary conditions is performed with MATLAB. The result of the simulation, smooth speed graphs, angular position graphs, and the time when joint movements will complete the orbit as soon as possible are obtained. As a result of this study, a path planning model that can be applied to any robot is developed in joint space based on time optimization and can be used to shorten the task time, especially in task-based robots.
Highlights
Trajectory planning is an important research topic in robot applications, and many research papers are published on this subject Duque et al (2017), Markus et al (2013), Ragaglia et al (2018)
To make trajectory planning in joint space, the points given in Cartesian space must be found in the joint space using inverse kinematics
The B-spline curve is generally used in interpolation methods, and optimum processing time and angular displacement, velocity, and acceleration graphs for each joint are found in trajectory planning studies Gasparetto and Zanotto (2010)
Summary
Trajectory planning is an important research topic in robot applications, and many research papers are published on this subject Duque et al (2017), Markus et al (2013), Ragaglia et al (2018). Time-optimal path planning model using genetic algorithm in rrr robot the limits of the velocity and acceleration of the joints. For this reason, research is done on improving trajectory planning Haiek et al (2019), Jin et al (2016), Tan and Hu (2002), Zhang et al (2018). The movements of the robot must be smooth and continuous without vibration For this reason, the B-spline curve is generally used in interpolation methods, and optimum processing time and angular displacement, velocity, and acceleration graphs for each joint are found in trajectory planning studies Gasparetto and Zanotto (2010). Attention has been paid to make the movements of the joints smooth and continuous
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