Multiobjective Trajectory Planning of a 6D Robot based on Multiobjective Meta Heuristic Search

Abstract

In this work, several established multiobjective meta-heuristics (MOMHs) were employed for solving multiobjective time-jerk robot trajectory planning. The optimisation problem is posed to minimise travelling time and jerk subject to velocity, acceleration and jerk constraints. The design variables include joint position and velocity at intermediate positions (passing position), and moving time from the initial position to the intermediate position and from the intermediate position to the final position. Several MOMHs are used to solve the trajectory multiobjective optimisation problem of robot manipulators while their performances are investigated. Based on this study, the best MOMH for multiobjective time-jerk robot trajectory planning is found while the results obtained from such a method are set as the baseline for further study of robot trajectory planning multiobjective optimisation.