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Mathematical Problems in Engineering - Volume 2016 2016, Article ID 1302537, 28 pages -

Research Article

State Key Laboratory of Robotics and System, Harbin Institute of Technology, 92 West Dazhi Street, Nan Gang District, Harbin 150001, China

School of Mechanical Engineering, Nanjing University of Science and Technology, Xiaolingwei 200, Nanjing 210094, China

Wuhu HIT Robot Technology Research Institute Co., Ltd., Electronic Industrial Park, Block E, JiuJiang District, Wuhu 241007, China

Received 25 June 2016; Revised 31 August 2016; Accepted 23 October 2016

Academic Editor: Alessandro Gasparetto

Copyright © 2016 Wanjin Guo et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A new methodology using a direct method for obtaining the best found trajectory planning and maximum dynamic load-carrying capacity DLCC is presented for a 5-degree of freedom DOF hybrid robot manipulator. A nonlinear constrained multiobjective optimization problem is formulated with four objective functions, namely, travel time, total energy involved in the motion, joint jerks, and joint acceleration. The vector of decision variables is defined by the sequence of the time-interval lengths associated with each two consecutive via-points on the desired trajectory of the 5-DOF robot generalized coordinates. Then this vector of decision variables is computed in order to minimize the cost function which is the weighted sum of these four objective functions subject to constraints on joint positions, velocities, acceleration, jerks, forces-torques, and payload mass. Two separate approaches are proposed to deal with the trajectory planning problem and the maximum DLCC calculation for the 5-DOF robot manipulator using an evolutionary optimization technique. The adopted evolutionary algorithm is the elitist nondominated sorting genetic algorithm NSGA-II. A numerical application is performed for obtaining best found solutions of trajectory planning and maximum DLCC calculation for the 5-DOF hybrid robot manipulator.

Autor: Wanjin Guo, Ruifeng Li, Chuqing Cao, Xunwei Tong, and Yunfeng Gao

Fuente: https://www.hindawi.com/


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