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Trajectory planning in parallel kinematic manipulators using a constrained multi-objective evolutionary algorithm

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Abstract

Generating manipulator trajectories considering multiple objectives with kinematics and dynamics constraints is a non-trivial optimization. In this paper, a constrained multi-objective genetic algorithm (MOGA) based technique is proposed to address this problem for a general motor-driven parallel kinematic manipulator. The planning process is composed of searching for a motion ensuring the accomplishment of the assigned task, minimizing the traverse time, and expended energy subject to various constraints imposed by the associated kinematics and dynamics of the manipulator. This problem is treated via an adequate parametric path representation in the task space of the moving platform, and then the use of the constrained MOGA for solving the resulted nonlinear multi-objective optimization problem. Simulation results are presented for the trajectories of the parallel kinematic manipulator, and a subsequent comparison with the weighted sum method is also carried out.

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Authors and Affiliations

  1. Department of Mechatronic Technology, National Taiwan Normal University, 162, He-ping East Road, Section 1, Taipei, Taiwan, 10610, R.O.C.

    Chun-Ta Chen

  2. Department of Mechanical and Automation Engineering, Da Yeh University, 168 University Road, Dacun, Changhwa, 51591, Taiwan, R.O.C.

    Hoang-Vuong Pham

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  1. Chun-Ta Chen
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  2. Hoang-Vuong Pham
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Correspondence to Hoang-Vuong Pham.

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Chen, CT., Pham, HV. Trajectory planning in parallel kinematic manipulators using a constrained multi-objective evolutionary algorithm. Nonlinear Dyn 67, 1669–1681 (2012). https://doi.org/10.1007/s11071-011-0095-2

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  • DOI: https://doi.org/10.1007/s11071-011-0095-2

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