The three performance indexes of the space robot, travel time, energy consumption, and smoothness, are the key to its important role in space exploration. Therefore, this paper proposes a multi-objective trajectory planning method for robots. Firstly, the kinematics and dynamics of the Puma560 robot are analyzed to lay the foundation for trajectory planning. Secondly, the joint space trajectory of the robot is constructed with fifth-order B-spline functions, realizing the continuous position, velocity, acceleration, and jerk of each joint. Then, the improved multi-objective particle swarm optimization (MOPSO) algorithm is used to optimize the trajectory, and the distribution uniformity, convergence, and diversity of the obtained Pareto front are good. The improved MOPSO algorithm can realize the optimization between multiple objectives and obtain the trajectory that meets the actual engineering requirements. Finally, this paper implements the visualization of the robot's joints moving according to the optimal trajectory.
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| http://dx.doi.org/10.3390/s24237663 | DOI Listing |
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