Smooth and multi-objective optimal motion planning for delta robot

This paper presents a method for smooth and optimal motion planning of delta parallel robot. The motion is smooth by using the fifth-order B-spline, the robot's kinematic, dynamic, and geometric constraints can be formulated in terms of B-spline parameters as well. In addition, the motion time, energy consumed and maximum jerk of delta end-effector are taken as objective functions in this paper. Therefore, the optimal motion planning is formulated as an optimization problem with nonlinear constraints, which can be solved by the non-dominated sorting genetic algorithm-II (NSGA-II).