Motion Planning and Optimisation Based on NSGA-II Algorithms Considering Energy Consumption of Robotic Arms
This thesis addresses the motion planning and optimisation problem of a six-degree-of-freedom robotic arm. Considering the energy consumption factor of the robotic arm, an energy consumption model containing rotational kinetic energy and gravitational potential energy is established, and multi-objective optimisation is carried out by using SLSQP and NSGA-II algorithms to seek a balance between minimising the end error and energy consumption to achieve the motion planning and optimisation of the six-degree-of-freedom robotic arm.
Authors
- Benxiao Lou (ORCID: https://orcid.org/0009-0001-3320-2077)
- Yanzhi Pang
- Yang Tang (ORCID: https://orcid.org/0000-0002-2750-8029)
- Qingwei Hu (ORCID: https://orcid.org/0000-0001-8684-1211)
- Guobin Gu (ORCID: https://orcid.org/0000-0001-6299-5996)
- Jianqiu Chen (ORCID: https://orcid.org/0000-0002-5942-1569)
- Kwok Lung Fan (ORCID: https://orcid.org/0000-0002-8246-4751)
- Xinyi Xi (ORCID: https://orcid.org/0009-0005-5858-0508)
- Qingquan Yuan
- Longtang Ning
Institutions
- Central South University (CN)
- Wuzhou University (CN)
- Guilin University of Electronic Technology (CN)
Publication Details
- Published
- 2024-09-20
- DOI
- https://doi.org/10.1109/isrimt63979.2024.10875101
- Primary Topic
- Robotic Path Planning Algorithms
- Type
- article
- Field-Weighted Citation Impact
- 0.00