Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization

Authors

Xianyin Duan, 1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan 430081, China; ;
Can Zhang, 1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan 430081, China; ;
Zerun Zhu, 2.State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;
Zhaoyang Sun, 2.State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China;
Guozhang Jiang, 1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan 430081, China; ;
Xiang Feng, 1. Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering, College of Mechanical Automation, Wuhan University of Science and Technology, Wuhan 430081, China; ;

Abstract

Abstract: In order to optimize the machining quality and production efficiency of manipulator, an inverse multi-objective determination method based on the optimization of manipulator stiffness and global travel is proposed. Establishing the forward kinematics model of manipulator, the inverse kinematics is solved by using behaviour tree. The stiffness performance evaluation index and the mathematical model of total stroke of joint angle are constructed to carry out the inverse solution multi-objective optimization. The 7-5-7 order polynomial joint space interpolation algorithm is designed for the trajectory planning. Compared with the commonly used cubic polynomial programming method, the manipulator trajectory obtained by the 7-5-7 order polynomial programming method is more stable and smoother.

Recommended Citation

Duan, Xianyin; Zhang, Can; Zhu, Zerun; Sun, Zhaoyang; Jiang, Guozhang; and Feng, Xiang (2021) "Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization," Journal of System Simulation: Vol. 33: Iss. 9, Article 14.
DOI: 10.16182/j.issn1004731x.joss.20-0455
Available at: https://dc-china-simulation.researchcommons.org/journal/vol33/iss9/14

First Page

2128

Revised Date

2020-08-24

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.20-0455

Last Page

2137

CLC

TP391.9

Recommended Citation

Duan Xianyin, Zhang Can, Zhu Zerun, Sun Zhaoyang, Jiang Guozhang, Xiang Feng. Trajectory Planning of 6-DOF Manipulator Based on Inverse Multi-objective Optimization[J]. Journal of System Simulation, 2021, 33(9): 2128-2137.

DOI

10.16182/j.issn1004731x.joss.20-0455