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Kinematic and Dynamic Optimal Trajectory Planning of Industrial Robot Using Improved Multi-objective Ant Lion Optimizer

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Abstract

In this paper, an optimal robotic trajectory planning subjected to kinematic and dynamic constraints has been described. The kinematic parameters like jerk and dynamic parameters like torque rate mainly influence the smoothness of the travel of robot end effector along the trajectory path. Therefore, these parameters are to be constrained for reducing the robot positional error, but it leads to vast increase in total travel time of robot which in the end affects the productivity. Therefore, an improved multi-objective ant lion optimization technique has been applied to obtain the optimal trajectory with minimization time-jerk–torque rate for a 6 axis Kawasaki RS06L industrial robot. After implementation of the algorithm, the torque rate and jerk have been reduced considerably and the total travel time before and after optimization has been found to be 34.38 s and 28.21 s.

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Acknowledgments

This research work is supported by Board of Research in Nuclear Sciences, Department of Atomic Energy, Govt. of India under Project ID BRNS/34034.

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Authors and Affiliations

  1. Department of Industrial Design, NIT Rourkela, Sundergarh, 769008, Odisha, India

    Amruta Rout, Golak Bihari Mahanta, Deepak Bbvl & Bibhuti Bhusan Biswal

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  1. Amruta Rout
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  2. Golak Bihari Mahanta
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  3. Deepak Bbvl
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  4. Bibhuti Bhusan Biswal
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Correspondence to Amruta Rout.

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Rout, A., Mahanta, G.B., Bbvl, D. et al. Kinematic and Dynamic Optimal Trajectory Planning of Industrial Robot Using Improved Multi-objective Ant Lion Optimizer. J. Inst. Eng. India Ser. C 101, 559–569 (2020). https://doi.org/10.1007/s40032-020-00557-8

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