Optimal trajectory planning for robotic manipulators using improved teaching-learning-based optimization algorithm

Optimal trajectory planning for robotic manipulators using improved teaching-learning-based... PurposeThe purpose of this paper is to propose a method of optimal trajectory planning for robotic manipulators that applies an improved teaching-learning-based optimization (ITLBO) algorithm.Design/methodology/approachThe ITLBO algorithm possesses better ability to escape from the local optimum by integrating the original TLBO with variable neighborhood search. The trajectory of robotic manipulators complying with the kinematical constraints is constructed by fifth-order B-spline curves. The objective function to be minimized is execution time of the trajectory.FindingsExperimental results with a 6-DOF robotic manipulator applied to surface polishing of metallic workpiece verify the effectiveness of the method.Originality/valueThe presented ITLBO algorithm is more efficient than the original TLBO algorithm and its variants. It can be applied to any robotic manipulators to generate time-optimal trajectories. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Industrial Robot: An International Journal Emerald Publishing

Optimal trajectory planning for robotic manipulators using improved teaching-learning-based optimization algorithm

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Publisher
Emerald Publishing
Copyright
Copyright © Emerald Group Publishing Limited
ISSN
0143-991X
DOI
10.1108/IR-08-2015-0167
Publisher site
See Article on Publisher Site

Abstract

PurposeThe purpose of this paper is to propose a method of optimal trajectory planning for robotic manipulators that applies an improved teaching-learning-based optimization (ITLBO) algorithm.Design/methodology/approachThe ITLBO algorithm possesses better ability to escape from the local optimum by integrating the original TLBO with variable neighborhood search. The trajectory of robotic manipulators complying with the kinematical constraints is constructed by fifth-order B-spline curves. The objective function to be minimized is execution time of the trajectory.FindingsExperimental results with a 6-DOF robotic manipulator applied to surface polishing of metallic workpiece verify the effectiveness of the method.Originality/valueThe presented ITLBO algorithm is more efficient than the original TLBO algorithm and its variants. It can be applied to any robotic manipulators to generate time-optimal trajectories.

Journal

Industrial Robot: An International JournalEmerald Publishing

Published: May 16, 2016

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