Time-optimal trajectory planning based on improved adaptive genetic algorithm

• 作 者: 孙农亮 王艳君
• 机 构: CollegeofInformationandElectricalEngineering,EngineeringCollege
• 出 处: 测试科学与仪器：英文版
• 发表日期: 2012年2期
• 基金项目: Fund of Taishan Scholar in Shandong Province, Shandong University of Science and Technology Research Fund （No.2010KYTD101 ）

This paper investiga tes a trajectory planning algorithm to reduce the manipulator’s working time.A t ime-optimal trajectory planning(TOTP)is conducted based on improved ad aptive genetic algorithm(IAGA)and combined with cubic triangular Bezier spline(CTB