OPTIMIZATION OF TRAJECTORY FOR THE DUAL- ARM ROBOT USING GENETIC ALGORITHM IN CONSIDERATION OF CONTROLLER

Abstract

The optimal trajectory planning of the object in the dual-arm system cooperative movement of the objects will been developed in this paper. The object's motion trajectory includes: along X and Y
axes, and object rotation. The third-order and fifth-order polynomial trajectories are chosen to test the optimal trajectory planning base on minimum execution time for the object. This paper presents planning the optimal trajectory using genetic algorithm. When the optimal trajectory is designed with considered constraints such as torque limit, range of motion of joints as well as velocity of joints. Unlike previous researches, the reference trajectory is assumed to be the same as the real one. Therefore, the torque at the joints are calculated by using the inverse kinematic and dynamic of the dual-arm robot system. The paper proposes to add a controller when planning optimal trajectory, the torque at the robot joints is calculated from the output of the controller. This design ensures similarity between the design trajectory and the actual implementation. Finally, simulation on MatlabSimulink with different types of orbits have proved the feasibility of the proposed solution.