Trajectory Planning For Periodic Operation Of Autonomous Excavating Robot Based On Time-Jerk Synthetic Optimum

Considering the problem of trajectory planning of redundant degree of freedom in autonomous operation for excavating robot, a method of trajectory planning for periodic operation of autonomous excavating robot based on time-jerk synthetic optimum was proposed in this paper. Through a kinematic model establishment and forward/inverse kinematics analysis for working mechanism, the trajectory planning based on Hermite interpolation method was carried out. Taking the time-jerk as objective function, a mathematical model of nonlinear programming under the inequality constraints was established, and Genetic Algorithm was used to find out the globally optimal solution. The rapidity and stability of working process of excavating robot is effectively enhanced and it has an important significance to realize the intelligentization of construction machinery.