Optimization of robotic arm trajectory using genetic algorithm in consideration of robot controlle

Abstract

One of the main problems in robotic is optimized trajectory planning. The trajectory planning must be optimized in moving time while satisfies
motor torque and velocity and position constraints. This paper presents the design of optimized trajectory by using genetic algorithm. Different
from previous researches, controlled torques is calculated from inverse dynamics of the robot, this paper proposes to calculate controlled torque
from controller output. This calcuation guarantees the similarity between the design and the actual implementation. Simulations have been
done to verify the effectveness of the proposed approach.