Paper Info
Title
Optimal Trajectory Planning For Industrial Robots Using Harmony Search Algorithm
Abstract
Purpose - This paper aims to present a technique for optimal trajectory planning of industrial robots that applies a new harmony search (HS) algorithm.Design/methodology/approach - The new HS optimization algorithm adds one more operation to the original HS algorithm. The objective function to be minimized is the trajectory execution time subject to kinematical and mechanical constraints. The trajectory is built by quintic B-spline curves and cubic B-spline curves.Findings - Simulation experiments have been undertaken using a 6-DOF robot QH165. The results show that the proposed technique is valid and that the trajectory obtained using quintic B-spline curves is smoother than the trajectory using cubic B-spline curves.Originality/value - The proposed new HS algorithm is more efficient than the sequential quadratic programming method (SQP) and the original HS method. The proposed technique is applicable to any industrial robot and yields smooth and time-optimal trajectories.
Year
DOI
Venue
2013
10.1108/IR-12-2012-444
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
Keywords
Field
DocType
Industrial robot, Trajectory planning, B-spline, Harmony search, Optimization, Robots, Optimization techniques
B-spline,Quintic function,Mathematical optimization,Simulation,Industrial robot,HS algorithm,Harmony search,Engineering,Sequential quadratic programming,Robot,Trajectory
Journal
Volume
Issue
ISSN
40
5
0143-991X
Citations 
PageRank 
References 
4
0.58
16
Authors
4
Name
Order
Citations
PageRank
Youdong Chen1204.67
Liang Yan25813.76
Hongxing Wei310122.41
Tianmiao Wang432268.45