Academic Journal
Multi-Objective Optimal Trajectory Planning for Woodworking Manipulator and Worktable Based on the INSGA-II Algorithm
| Title: | Multi-Objective Optimal Trajectory Planning for Woodworking Manipulator and Worktable Based on the INSGA-II Algorithm |
|---|---|
| Authors: | Jiaping Yi, Changqing Zhang, Sihan Chen, Qinglong Dai, Hang Yu, Guang Yang, Leyuan Yu |
| Source: | Applied Sciences, Vol 15, Iss 1, p 310 (2024) |
| Publisher Information: | MDPI AG, 2024. |
| Publication Year: | 2024 |
| Collection: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| Subject Terms: | woodworking manipulator and worktable, 5-7-5 piecewise polynomial, improved NSGA-II: time–jerk optimal trajectory planning, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| More Details: | The manipulator has been widely used in the wood processing industry; the main problem currently faced is optimizing the motion trajectory to enhance the processing efficiency and operational stability of the woodworking manipulator and worktable. A 5-7-5 piecewise polynomial interpolation method is proposed to construct the spatial trajectories of each joint. An improved non-dominated sorting genetic algorithm (INSGA-II) is proposed to achieve a time–jerk multi-objective trajectory planning that can meet the dual requirements of minimal processing time and reduced motion impact. In order to address the limitations of the standard NSGA-II algorithm, which is prone to local optima and exhibits slow convergence, we propose a good point set method for multi-objective optimization population initialization and a linear ranking selection method to refine the parent selection process within the genetic algorithm. The improved NSGA-II algorithm markedly enhanced both the uniformity of the population distribution and convergence speed. In practical applications, selecting suitable weightings to construct a normalized weight function can identify the optimal solution from the Pareto frontier curve. A high-order continuous and smooth optimal trajectory without abrupt changes can be obtained. The simulation results demonstrated that the 5-7-5 piecewise polynomial interpolation curve effectively constructed a high-order smooth processing trajectory with continuous and smooth velocity, acceleration, and jerk, free from discontinuities. Moreover, the INSGA-II algorithm outperforms the original algorithm in terms of convergence and distribution, enabling the optimal time–jerk multi-objective trajectory planning that adheres to constraint conditions. Optimized by the improved NSGA-II algorithm, the optimal total running time is 4.5400 s, and the optimal jerk is 17.934 m(rad)/s3. This provides a novel approach to solving the inefficiencies and operational instability prevalent in traditional woodworking equipment. |
| Document Type: | article |
| File Description: | electronic resource |
| Language: | English |
| ISSN: | 2076-3417 97523054 |
| Relation: | https://www.mdpi.com/2076-3417/15/1/310; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app15010310 |
| Access URL: | https://doaj.org/article/98c3378e68ca4b2c9752305443c767e4 |
| Accession Number: | edsdoj.98c3378e68ca4b2c9752305443c767e4 |
| Database: | Directory of Open Access Journals |
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| ISSN: | 20763417 97523054 |
|---|---|
| DOI: | 10.3390/app15010310 |
| Published in: | Applied Sciences |
| Language: | English |