Minimum-time motion planning for a robot arm using the bees algorithm

Mei Choo Ang, D. T. Pham, K. W. Ng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

The problem of determining the minimum motion time for a robot arm is not new. Several approaches have been successfully proposed to solve this problem. One of these approaches involves generating a fixed number of joint displacements to construct the joint trajectories via cubic spline functions before scaling the travel time to avoid violating kinematic constraints such as the maximum permissible velocity, acceleration and jerk. Conforming to these kinematic constraints is necessary to prevent trajectories that are undulant and normally unsuitable for robotic motion. This paper presents a Pareto-based multi-objective Bees Algorithm to determine the minimum travelling time for a SCARA-type robot arm that takes consideration of trajectory smoothness. The results obtained are better than those reported for solutions using the genetic algorithm (with breeder genetic algorithm operators and the path redistribution with relaxation operator), the Nelder-Mead flexible polyhedron search and the improved polytope algorithm with a penalty function. 2009 IEEE.

Original languageEnglish
Title of host publicationIEEE International Conference on Industrial Informatics (INDIN)
Pages487-492
Number of pages6
DOIs
Publication statusPublished - 2009
Externally publishedYes
Event2009 7th IEEE International Conference on Industrial Informatics, INDIN 2009 - Cardiff
Duration: 23 Jun 200926 Jun 2009

Other

Other2009 7th IEEE International Conference on Industrial Informatics, INDIN 2009
CityCardiff
Period23/6/0926/6/09

Fingerprint

Motion planning
Trajectories
Robots
Kinematics
Genetic algorithms
Travel time
Splines
Mathematical operators
Robotics

Keywords

  • Bees algorithm
  • Motion planning
  • Multi-objective optimisation
  • Robot

ASJC Scopus subject areas

  • Computer Science Applications
  • Information Systems

Cite this

Ang, M. C., Pham, D. T., & Ng, K. W. (2009). Minimum-time motion planning for a robot arm using the bees algorithm. In IEEE International Conference on Industrial Informatics (INDIN) (pp. 487-492). [5195852] https://doi.org/10.1109/INDIN.2009.5195852

Minimum-time motion planning for a robot arm using the bees algorithm. / Ang, Mei Choo; Pham, D. T.; Ng, K. W.

IEEE International Conference on Industrial Informatics (INDIN). 2009. p. 487-492 5195852.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ang, MC, Pham, DT & Ng, KW 2009, Minimum-time motion planning for a robot arm using the bees algorithm. in IEEE International Conference on Industrial Informatics (INDIN)., 5195852, pp. 487-492, 2009 7th IEEE International Conference on Industrial Informatics, INDIN 2009, Cardiff, 23/6/09. https://doi.org/10.1109/INDIN.2009.5195852
Ang MC, Pham DT, Ng KW. Minimum-time motion planning for a robot arm using the bees algorithm. In IEEE International Conference on Industrial Informatics (INDIN). 2009. p. 487-492. 5195852 https://doi.org/10.1109/INDIN.2009.5195852
Ang, Mei Choo ; Pham, D. T. ; Ng, K. W. / Minimum-time motion planning for a robot arm using the bees algorithm. IEEE International Conference on Industrial Informatics (INDIN). 2009. pp. 487-492
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