Trajectory Planning of Manipulator based on Improved Genetic Algorithm

Abstract

Laser cladding technology has been used in many applications, and repair of high-value broken drills is one of them. Aiming at the problem of trajectory planning of cladding repair access sequence in multiple damaged areas of the drill bit, the trajectory planning of the cladding path is based on an improved genetic algorithm. Firstly, the modified D-H representation was used to model the manipulator, and the kinematics analysis was performed. Based on this, an improved genetic algorithm is used to select the optimal order of multiple damaged areas for the damaged parts that need to be repaired. In order to avoid falling into the local optimum, adaptive genetic operators are used, and an evolution reversal step operation is added to improve the search ability. Finally, the fifth-order polynomial interpolation method is used in joint space for trajectory planning. After simulation analysis, the path points obtained through genetic algorithm optimization can smoothly perform cladding repair operations in various areas.