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Optimal trajectory planning and sliding mode control for robots using evolution strategy

Published online by Cambridge University Press:  09 April 2001

Young-Kiu Choi ,
Jin-Hyun Park ,
Hyun-Sik Kim  and
Jung Hwan Kim
Young-Kiu Choi
Affiliation:
Dept. of Electrical Engineering, Pusan National University, Pusan 609–735 (S. Korea)[email protected]
Jin-Hyun Park
Affiliation:
Dept of Industrial Automation Engineering, Chinju National University (S. Korea)
Hyun-Sik Kim
Affiliation:
Agency for Defence Development (S. Korea)
Jung Hwan Kim
Affiliation:
Centre for Advanced Computer Studies, University of Southwestern Louisiana, Lafayette, LA 70504 (USA)
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Abstract

Although robots have some kinematic and dynamic constraints such as the limits of the position, velocity, acceleration, jerk, and torque, they should move as fast as possible to increase the productivity. Researches on the minimum-time trajectory planning and control based on the dynamic constraints assume the availability of full dynamics of robots. However, the dynamic equation of robot may not often be exactly known. In this case, the kinematic approach for the minimum-time trajectory planning is more meaningful. We also have to construct a controller to track precisely the minimum-time trajectory. But, finding a proper controller is also difficult if we do not know the explicit dynamic equations of a robot.

This paper describes an optimization of trajectory planning based on a kinematic approach using the evolution strategy (ES), as well as an optimization of a sliding mode tracking controller using ES for a robot without dynamic equations.

Keywords

Time-optimal trajectoryEvolution strategySliding mode controller
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 423 - 428
Copyright
© 2000 Cambridge University Press

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