Time-optimal trajectory planning based on improved adaptive genetic algorithm

This paper investigates a trajectory planning algorithm to reduce the manipulator’s working time.A time-optimal trajectory planning(TOTP)is conducted based on improved adaptive genetic algorithm(IAGA)and combined with cubic triangular Bezier spline(CTBS).The CTBS based trajectory planning we did before can achieve continuous second and third derivation,hence it meets the stability requirements of the manipulator.The working time can be greatly reduced by applying IAGA to the puma560 trajectory planning when considering physical constraints such as angular velocity,angular acceleration and jerk.Simulation experiments in both Matlab and ADAMS illustrate that TOTP based on IAGA can give a time optimal result with smoothness and stability.