Research on Trajectory Planning of Manipulator Based on GA - APF Algorithm

摘要

A novel approach of trajectory optimization in the field of trajectory planning of a six-DOF manipulator is presented. In this paper, the kinematic model of the manipulator is easily established by using classical D-H parameter method, and the kinematics results of the manipulator are validated with MATLAB. Then Monte Carlo method is used to obtain the workspace of manipulator. This optimization method of trajectory planning, whose principle is that applying genetic algorithm (GA) to a modified artificial potential field (APF) method, is to address the optimal path searching problem in field of obstacle avoidance trajectory planning of manipulator. A set of optimized parameters are obtained by genetic algorithm, and are used to conduct a simulation, which shows a better trajectory compared with other method. Finally, the experiment is conducted by using UR10 robot. Both the simulation and experimental results show the validity and the effectiveness of GA-APF algorithm.