Trajectory optimization of an electro-hydraulic robot

The electro-hydraulic robot has great driving torque and plays an irreplaceable role in manufacturing. In this paper, a trajectory planning method for a 6-DOF electro-hydraulic robot based on time-energy-jerk is proposed and realized. A multi-objective function of the electro-hydraulic robot about working efficiency, impact, stability and energy consumption factors was built, at the same time, the kinematic and dynamic constraint functions were also built. The multi-objective trajectory function of the robot was optimized by using the non-dominated neighborhood immune genetic algorithm, and the optimal position, velocity, acceleration and jerk planning curves of each joint were obtained. In the experiment, the flow output curves of the hydraulic system of joint 6 based on fuzzy-PID control strategy under no-load, 1.5 kg load, 4 kg load were obtained, and show that the velocity and position trajectory of the joint can be well controlled using the presented fuzzy PID control strategy.