Optimal Trajectory Planning for the Design Optimization of the Robotic Arm

Bhupender, Rahul

Genetic algorithm, inverse kinematics problem, modeling and control, optimal search, robotics, robotic arm trajectory.

This paper presents a synthetical approach for the design optimization and the trajectory of the robotic arm, angular velocity and acceleration of the robotic arm. The optimization of the robotic arm trajectory is a frequent design problem. Because of the complexity of this task in the past, many of the proposed approaches entailed only a suboptimal solution. The main problem in trajectory generation and tracking of robotic arm motions is to plan the trajectory and compute the required joint angles. Inverse kinematics modeling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. Due to that reason, previously, several authors have used evolutionary algorithms. Rana and Zalzala (1997) applied EA to the collision-free path planning of the robotic arm. In Garg & Kumar (2002), the formulation and application of Genetic Algorithm and Simulated Annealing for the determination of an optimal trajectory of a multiple robotic configuration is presented.