Simulation of Robot Manipulator Trajectory Optimization Design

ABSTRACT: Most of the trajectory planning based on robot dynamics and kinematics start from the joint space, can not guarantee the robot end track corresponding relationship. To solve the above problem, the method of trajectory planning is proposed and the optimization algorithm is used to solve the optimization trajectory. Taking the SCARA robot as an example, the trajectory of the end trajectory is preset, the first trajectory is planned by combining the first order acceleration planning and the arc transition. Then, the target model is optimized for the average power and the movement time. Finally, a non-dominated sorting algorithm is introduced to optimize the trajectory to obtain the best performance trajectory. The simulation results show that the optimized trajectory has a certain amount of time-consuming increase compared with the traditional trajectory of SCARA robot, but its energy consumption is obviously reduced, and the overall optimization result is obvious.