Multiobjective optimization-based trajectory planning for laser 3D scanner robots

In our industrial material defect detecting processes, the multi criteria is considered in two-level motion planning structure. Firstly, the feed speed of the end-effector should be programmed in optimal time for satisfying the requirement of high efficiency. Secondly, the planned joint velocities and accelaration are characterized by high-order derivatives to guarantee smooth motion, taking into account the kinematic constraints. Last but not least, energy consumption of the robot's movement is a focus during designing trajectories. The Pareto optimal method is applied to solve the trajectory planning problem. The results of the experiments suggest that the Pareto approach can realize effective multi-objective optimization and deliver a group of Pareto solutions for decision makers. Based on the actual requirements, suitable Pareto-optimal trajectory can be achieved and the practical operation of the industrial robot is good.