Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 13, issue 1
Articles | Volume 13, issue 1
https://doi.org/10.5194/ms-13-41-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-13-41-2022
© Author(s) 2022. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 13, issue 1
Research article
 | 
08 Feb 2022
Research article |  | 08 Feb 2022

Evolutionary multi-objective trajectory optimization for a redundant robot in Cartesian space considering obstacle avoidance

Yong Liu, Xiang Li, Peiyang Jiang, Zhe Du, Zhe Wu, Boxi Sun, and Xinyan Huang

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Latest update: 13 Dec 2024
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Short summary
First, we calculated the trajectory of the end effector of manipulator. This trajectory enables the end effector to reach the desired pose. At the same time, collision detection algorithm was employed to calculate the distance between each link of the manipulator and obstacle. We utilized the multi-objective particle swarm optimization algorithm to optimize the trajectory to minimize joint motor energy consumption and reduce joint velocity and joint impact during the movement of the manipulator.
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