Optimal trajectory planning and sliding mode control for robots using evolution strategy

摘要

Although robots have some kinematic and dynamic con- straints such as the limits of the position, velocity, acceleration, jerk, and torque, they should move as fast as possible to increase the productivity. Researches on the minimum-time trajectory planning and control based on the dynamic constraints assume the availability of full dynam- ics of robots. However, the dynamic equation of robot may not often be exactly known. In this case, the kinematic approach for the minimum-time trajectory planning is more meaningful. We also have to construct a controller to track precisely the minimum-time trajectory. But, finding a proper controller is also difficult if we do not know the explicit dynamic equations of a robot. This paper describes an optimization of trajectory planning based on a kinematic approach using the evolution strategy (ES), as well as an optimization of a sliding mode tracking controller using ES for a robot without dynamic equations.