Optimal Trajectory Planning Methodand Simulation Of Joint Type Industrial Manipulators

With the rapid development of contemporary science and technology, the applicationof robot has varied from the initial handling, welding and assembly areas to the presentmedical services, civil construction and other fields. At the same time, the requirements forrobots are higher and higher, especially in improving the efficiency of industrial productionand guaranteeing the smooth movement of manipulator. This thesis presents a dualoptimized method for the trajectory planning of manipulator in time optimum and jerkminimum. The time optimum under the specific path can effectively improve the efficiencyof manipulator, while jerk minimum can reduce the oscillation of manipulator to ensure thesmooth running, and at the same time reduce the mechanical wear and prolong its servicelife.This thesis makes a positive and inverse kinematic analysis on KUKA KR5arc. Itmainly analyzes the mathematical foundation, establishes mathematical model ofmanipulator based on the D-H model and the parameters of KUKA, and gains the positivekinematic solution and inverse kinematic solution of it. To achieve the dual optimization ofmanipulator, the thesis uses the quintic B spline curve to describe the angular displacement,angular velocity, angular acceleration and angular jerk of the mechanical arm’s moving.Using the multiplicity of the clamping B spline curve and considering six boundaryconditions, the quintic B spline curve can meet continuous acceleration.In the end, the thesis studies the optimization theory of the manipulator’s trajectoryplanning. It analyzes multi-objective optimization and employs elitism non-dominatedsorting genetic algorithm(NSGA-II) in an innovative way to solve the dual optimal problemof time optimum and jerk minimum. It mainly researches the algorithm’s merit andimplement step, uses MATLAB to simulate every joint’s path curves. Comparing to thetrajectory curve of forward and backward optimization, It certifies that the dual optimalmethod of the manipulator has a significant application value and improves the benefit ofthe industrial production.