BENDALI Nadir

A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations

by Mohammed Ouali and BENDALI Nadir

IAES International Journal of Robotics and Automation (IJRA), 2014

This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically ... more This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically shunt the ant algorithm. The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and make out the best partial path, which the robot goes ahead for a step. The algorithm will iterate one time when the robot arrives at the goal node. The robot will reach the destination along the optimal path. Simulation experiments illustrate that the algorithm can be used to plan the optimal path for mobile robot even in the complex and unknown static environment.

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A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations

IAES International Journal of Robotics and Automation (IJRA), 2014

This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically ... more This paper proposes a new rolling algorithm for path plan of mobile robot based on automatically shunt the ant algorithm. The goal node is mapped to the node nearby the boundary in the eyeshot of the robot, and make out the best partial path, which the robot goes ahead for a step. The algorithm will iterate one time when the robot arrives at the goal node. The robot will reach the destination along the optimal path. Simulation experiments illustrate that the algorithm can be used to plan the optimal path for mobile robot even in the complex and unknown static environment.

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Optimal Trajectory Planning under Kino-dynamics Constraints for a 6-DOF PUMA 560

Proceedings of the The International Conference on Engineering & MIS 2015 - ICEMIS '15, 2015

We present in this paper an effective method to deal with the problem of the trajectories plannin... more We present in this paper an effective method to deal with the problem of the trajectories planning in time-efforts quadratic optimal of the robots manipulators in the point to point tasks. The technique suggested in this work, consists at the beginning to standardizing the time scale then to break up the trajectory into two functions which are modelled by Cubic Splines (Natural and Clamped) according to the properties of each function. Finally, the problem of optimization is solved by using the Genetic Algorithms to find the optimal trajectory. An algorithm is developed which makes it possible to minimize a function objective which represents a weighting between the transfer time and the efforts of the actuators, with the satisfaction of the geometrical, kinematics and dynamic constraints. Results on a robot PUMA560 6R are presented to illustrate the effectiveness of this technique.

Optimal trajectory generation method to find a smooth robot joint trajectory based on multiquadric radial basis functions

The International Journal of Advanced Manufacturing Technology, 2022

On-line trajectory planning of time-jerk optimal for robotic arms

Mediterranean Journal of Modeling and Simulation, 2016

A method based on the computation of the time intervals of the knots for time-jerk optimal planni... more A method based on the computation of the time intervals of the knots for time-jerk optimal planning under kinematic constraints of robot manipulators in predened operations is described in this paper. In order to ensure that the resulting trajectory is smooth enough, a cost function containing a term proportional to the integral of the squared jerk (dened as the derivative of the acceleration) along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the cost function. A Cubic Spline functions are then used to compose overall trajectory. This method can meet the requirements of a short execution time and low arm vibration of the manipulator and the simulation provides good results.

Optimization the Trajectories of Robot Manipulators Along Specified Task

International Journal of Intelligent Engineering and Systems, Feb 28, 2018

This paper proposes a procedure for obtaining an optimal trajectory for robot manipulators along ... more This paper proposes a procedure for obtaining an optimal trajectory for robot manipulators along specified tasks (spot welding, drilling ...). The purpose is to obtain smooth trajectories with minimum time using spline cubic functions under a various kinematic and/or dynamic constraints, taking into account a full dynamic model of robot manipulator and with a large number of via points. This procedure is based on the optimization by a genetic algorithm of a vector which represents only a time intervals in order to find the best objective function. Two examples illustrated with numerical details for a two-link planar arm and six-link manipulators, for the former, comparisons with an alternative optimization solver are exposed.

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Optimal Trajectory Planning under Kino-dynamics Constraints for a 6-DOF PUMA 560

by BENDALI Nadir and Mohammed Ouali

We present in this paper an effective method to deal with the problem of the trajectories plannin... more We present in this paper an effective method to deal with the problem of the trajectories planning in time-efforts quadratic optimal of the robots manipulators in the point to point tasks. The technique suggested in this work, consists at the beginning to standardizing the time scale then to break up the trajectory into two functions which are modelled by Cubic Splines (Natural and Clamped) according to the properties of each function. Finally, the problem of optimization is solved by using the Genetic Algorithms to find the optimal trajectory. An algorithm is developed which makes it possible to minimize a function objective which represents a weighting between the transfer time and the efforts of the actuators, with the satisfaction of the geometrical, kinematics and dynamic constraints. Results on a robot PUMA560 6R are presented to illustrate the effectiveness of this technique.

A New Method for Time-Jerk Optimal Trajectory Planning Under Kino-dynamic Constraint of Robot Manipulators in Pick-and-Place Operations

A new method for time-jerk optimal planning under Kino-dynamic constraints of robot manipulators ... more A new method for time-jerk optimal planning under Kino-dynamic
constraints of robot manipulators in pick-and-place operations is described in
this paper. In order to ensure that the resulting trajectory is smooth enough, a
cost function containing a term proportional to the integral of the squared
jerk (defined as the derivative of the acceleration) along the trajectory is
considered. Moreover, a second term, proportional to the total execution
time, is added to the expression of the cost function. A Cubic Spline
functions are then used to compose overall trajectory. This method makes it
possible to deal with the kinematic constraints as well as the dynamic
constraints imposed on the robot manipulator. The algorithm has been tested
in simulation yielding good results.

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