Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm.
Facing the problems of large-scale rapid and disorderly loading, the robotic arm has the problems of large start-stop impact, easy to shake, and reduced production efficiency and service life, this paper proposes a robotic arm motion planning method based on the improved multi-objective algorithm ca...
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| Format: | Article |
| Language: | English |
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Public Library of Science (PLoS)
2025-01-01
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| Series: | PLoS ONE |
| Online Access: | https://doi.org/10.1371/journal.pone.0324567 |
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| author | Yanqin Fan Yinan Peng Jianlin Liu |
| author_facet | Yanqin Fan Yinan Peng Jianlin Liu |
| author_sort | Yanqin Fan |
| collection | DOAJ |
| description | Facing the problems of large-scale rapid and disorderly loading, the robotic arm has the problems of large start-stop impact, easy to shake, and reduced production efficiency and service life, this paper proposes a robotic arm motion planning method based on the improved multi-objective algorithm called LNSGA-II. Firstly, the artificial potential field method is used to plan the shortest path without collision, extract the key motion sequences, and establish the multi-objective function to improve the operating efficiency of the robotic arm, the smoothness of the motion trajectory, and the reduction of energy consumption. Then to solve the nonlinear constraints in the multi-objective trajectory planning, the infeasibility degree is designed, and the NSGA-II is improved by using the mutation chaos strategy and the dynamic goal-oriented development strategy. Numerical and trajectory planning experiments are conducted successively with the remaining five well-known multi-objective algorithms, and the experimental results demonstrate the superiority of LNSGA-II. Finally, the digital twin platform of MATLAB-CoppeliaSim-UR16e verifies the effectiveness of the method in real grasping tasks. |
| format | Article |
| id | doaj-art-fd50e09510fa45dcbee120ba697dd56b |
| institution | Kabale University |
| issn | 1932-6203 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Public Library of Science (PLoS) |
| record_format | Article |
| series | PLoS ONE |
| spelling | doaj-art-fd50e09510fa45dcbee120ba697dd56b2025-08-20T03:25:18ZengPublic Library of Science (PLoS)PLoS ONE1932-62032025-01-01205e032456710.1371/journal.pone.0324567Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm.Yanqin FanYinan PengJianlin LiuFacing the problems of large-scale rapid and disorderly loading, the robotic arm has the problems of large start-stop impact, easy to shake, and reduced production efficiency and service life, this paper proposes a robotic arm motion planning method based on the improved multi-objective algorithm called LNSGA-II. Firstly, the artificial potential field method is used to plan the shortest path without collision, extract the key motion sequences, and establish the multi-objective function to improve the operating efficiency of the robotic arm, the smoothness of the motion trajectory, and the reduction of energy consumption. Then to solve the nonlinear constraints in the multi-objective trajectory planning, the infeasibility degree is designed, and the NSGA-II is improved by using the mutation chaos strategy and the dynamic goal-oriented development strategy. Numerical and trajectory planning experiments are conducted successively with the remaining five well-known multi-objective algorithms, and the experimental results demonstrate the superiority of LNSGA-II. Finally, the digital twin platform of MATLAB-CoppeliaSim-UR16e verifies the effectiveness of the method in real grasping tasks.https://doi.org/10.1371/journal.pone.0324567 |
| spellingShingle | Yanqin Fan Yinan Peng Jianlin Liu Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. PLoS ONE |
| title | Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. |
| title_full | Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. |
| title_fullStr | Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. |
| title_full_unstemmed | Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. |
| title_short | Advanced multi-objective trajectory planning for robotic arms using a multi-strategy enhanced NSGA-II algorithm. |
| title_sort | advanced multi objective trajectory planning for robotic arms using a multi strategy enhanced nsga ii algorithm |
| url | https://doi.org/10.1371/journal.pone.0324567 |
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