Welcome to the InfoSci Platform
Reference Hub6
Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy

Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy

Amruta Rout, Deepak BBVL, Bibhtui Bhusan Biswal, Golak B. Mahanta
Copyright: © 2021 |Volume: 12 |Issue: 3 |Pages: 17
ISSN: 1947-8283|EISSN: 1947-8291|EISBN13: 9781799861140|DOI: 10.4018/IJAMC.2021070107
Cite Article Cite Article

MLA

Rout, Amruta, et al. "Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy." IJAMC vol.12, no.3 2021: pp.163-179. http://doi.org/10.4018/IJAMC.2021070107

APA

Rout, A., Deepak BBVL, Biswal, B. B., & Mahanta, G. B. (2021). Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy. International Journal of Applied Metaheuristic Computing (IJAMC), 12(3), 163-179. http://doi.org/10.4018/IJAMC.2021070107

Chicago

Rout, Amruta, et al. "Trajectory Generation of an Industrial Robot With Constrained Kinematic and Dynamic Variations for Improving Positional Accuracy," International Journal of Applied Metaheuristic Computing (IJAMC) 12, no.3: 163-179. http://doi.org/10.4018/IJAMC.2021070107

Export Reference

Mendeley
Favorite Full-Issue Download

Abstract

The joint trajectory of the robot needs to be computed in an optimal manner for proper torch orientation, smooth travel of the robot along the trajectory path. This can be achieved by limiting the travel time, kinematic and dynamic variations of the robot joints like the jerks, and torque induced in the joints in the travel of the robot. As the objectives of total travel time and joint jerk and torque rate are contradictory functions, non-dominated sorting genetic algorithm-II (NSGA-II) approach has been used to obtain the pareto front consisting of optimal solutions. The fuzzy membership function has been used to obtain the optimal solution from the pareto front with best trade-off between objectives for further optimal trajectory generation. From the simulation results, it can be concluded that the proposed approach can be effectively used for optimal trajectory planning of Kawasaki RS06L industrial manipulator with minimal jerk, torque rate, and total travel time for smooth travel of robot with higher positional accuracy.

Request Access

You do not own this content. Please login to recommend this title to your institution's librarian or purchase it from the IGI Global bookstore.