Optimal Trajectory Planning Based on Improved Adaptive Genetic Algorithm for a 6 DOF Manipulator

This paper is concerned with the optimal trajectory planning for a 6 degree-of-freedom (DOF) manipulator, where the energy minimization is considered under the constraint of power. Firstly, based on the establishment of kinematics model, the influence of main factors on power is analyzed by using Jacobian matrix and Lagrange equation. Then the energy consumption is calculated as the objective function by the power consumption of each joint, and in order to obtain the desired trajectory for the arm, each joint locus is approximated by a 3-5-3 spline interpolation curve. To this end, in order to obtain the most reliable solutions for trajectory planning, the improved adaptive genetic algorithm (IAGA) is used to optimize the energy under the constraint of power, speed and acceleration, and the crossover rate and mutation rate are effectively adjusted with fitness. Finally, we conduct the simulation by using the dynamics analysis software-ADAMS. The results demonstrate the effectiveness of minimizing the optimized energy in the case of constrained power mainly.