A Multi Performance Characteristics Optimization of Robotic Arm Trajectory using Machine learning Technique

This paper presents trajectory planning algorithm for a 3 Degrees-of-Freedom (3- DOF) articulated robot that is intended to serve assembly/pick and place operation under fixed obstacle with minimum time and minimum jerk. However the time and jerk value depends on the position of the intermediate point(s) and the orientation of the end effector. Intermediate points are determined based on the fixed obstacle. Cubic B-spline interpolation is used to generate smooth path. Minimax (Minimize the maximum jerk value) method is used to minimize the jerk value. This paper proposes a Genetic algorithm (GA) based heuristic to determine the position and orientation of the end effector which generates the trajectory with minimum time and minimum jerk value.