Trajectory planning of multiple coordinating robots using genetic algorithms

The paper focuses on the problem of trajectory planning of multiple coordinating robots. When multiple robots collaborate to manipulate one object, a redundant system is formed. There are a number of trajectories that the system can follow. These can be described in Cartesian coordinate space by an...

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Bibliographic Details
Published in:	Robotica 1996-03, Vol.14 (2), p.227-234
Main Authors:	Sun, Shudong, Morris, A.S., Zalzala, A.M.S.
Format:	Article
Language:	eng
Subjects:	Applied sciences Computer science control theory systems Control theory. Systems Coordination Exact sciences and technology Genetic algorithms Multiple robots Robotics Trajectory planning
Online Access:	Get full text
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Summary:	The paper focuses on the problem of trajectory planning of multiple coordinating robots. When multiple robots collaborate to manipulate one object, a redundant system is formed. There are a number of trajectories that the system can follow. These can be described in Cartesian coordinate space by an nth order polynomial. This paper presents an optimisation method based on the Genetic Algorithms (GAs) which chooses the parameters of the polynomial, such that the execution time and the drive torques for the robot joints are minimized. With the robot's dynamic constraints taken into account, the pitimised trajectories are realisable. A case study with two planar-moving robots, each having three degrees of freedom, shows that the method is effective.
ISSN:	0263-5747 1469-8668