MTTP for robot manipulators based on intensified evolutionary programming and its application in PVR environment

The minimum time trajectory planning (MTTP) of robot manipulator plays an important role in the field of robotics. However, it is very difficult to reach the optimal goal due to the nonlinearities in the mathematic model and the strong couplings in robot dynamics. Based on the intensified evolutional programming kinematic approach, the trajectory planning optimization is carried out with numerical analysis and computations. Meanwhile, a kind of graphic simulation software is developed by using the new optimal algorithm based on projective virtual reality (PVR) technology. The graphic simulation and experimental results show that the intuitive operability, control, and supervision can be realized effectively in the virtual world, and the precision of projective operability is greatly enhanced.