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A TE-E Optimal Planning Technique Based on Screw Theory for Robot Trajectory in Workspace

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Abstract

In the previous study, the minimum time and energy have been both considered to improve the efficiency and reliability of the manipulator operations. For further guaranteeing the tracking precision of end effector, a TE-E optimal planning technique is presented in this paper to optimize the trajectory of end effector. TE-E means two optimization objectives and one constraint condition: T is the total motion time, the first E is the total kinetic energy consumption and the second E is the motion error due to trajectory planning. In this technique, a local optimization process is completed to find a time-energy optimal trajectory, which could improve the movement efficiency and reliability. In this local process, the screw theory is used to obtain the forward and inverse kinematic models for simplifying the computation. The multi-solution situation in inverse kinematic is considered. The modified cubic spline interpolation is applied in the joint space to obtain the good motion stability. The objective function is defined as the weighted sum of two optimization objectives. The local optimal trajectory is obtained by using the particle swarm optimization (PSO) algorithm. Finally, the motion errors are considered as a condition to determine the number of the path points and obtain the final optimal trajectory that has good tracking precision. The simulation experiment for QJ-1 welding manipulator is completed to verify the reliability and validity of this technique. In the optimal trajectory, the relationships between the motion time and parameters for each joint show a good performance in the motion. The comparison of motion errors obtained by using the previous and presented methods proves the validity of this presented technique.

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Acknowledgements

The research is supported by Beijing Municipal Science & Technology Commission (Name: The key technologies of harmonic reducer for robotic joint and its typical applications), Large scientific research promotion program of Beijing University of Technology Jing-Hua Talents Project of Beijing University of Technology and National Natural Science Foundation (No. 51575009).

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Authors and Affiliations

  1. Key Laboratory of Advanced Manufacturing Technology, Beijing University of Technology, Beijing, 100124, People’s Republic of China

    Zhifeng Liu, Jingjing Xu, Congbin Yang, Yongsheng Zhao & Tao Zhang

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  1. Zhifeng Liu
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  2. Jingjing Xu
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  3. Congbin Yang
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  4. Yongsheng Zhao
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  5. Tao Zhang
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Correspondence to Zhifeng Liu.

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Liu, Z., Xu, J., Yang, C. et al. A TE-E Optimal Planning Technique Based on Screw Theory for Robot Trajectory in Workspace. J Intell Robot Syst 91, 363–375 (2018). https://doi.org/10.1007/s10846-017-0706-3

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  • DOI: https://doi.org/10.1007/s10846-017-0706-3

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