Time-optimal trajectory planning of manipulator with simultaneously searching the optimal path

Time-optimal trajectory planning can improve the efficiency of the manipulator, which has a paramount research significance. Nonetheless, almost all the current algorithms have the problem of path limitation - the algorithm constantly searches for the optimal motion time of the manipulator on a specific motion path. To solve this problem, we design a time-optimal trajectory planning method for the manipulator by searching the optimal path simultaneously. We propose using a cubic uniform B-spline interpolation algorithm to derive the motion curve expression of the manipulator joint with unknown path points. Then we use a genetic algorithm to optimize the path point and the motion time of the manipulator at the same time to get the time-optimal motion path of the manipulator. Moreover, we prove that the algorithm proposed in this paper is comparable with similar algorithms with known paths through experiments.

Automated summary

This study introduces a time-optimal trajectory planning method for manipulators that simultaneously searches for the optimal path, deriving motion curve expressions using a cubic uniform B-spline interpolation algorithm, and optimizing path points and motion time with a genetic algorithm. Experimental results demonstrate that the proposed algorithm is comparable to similar algorithms with known paths.