Trajectory Planning Optimization

Basic code modules for performance-criteria-based trajectory planning for future implementation in the robot Yu. The repository consists of:

• Robot kinematics and dynamics (originally written in C)
• An auto-editor that converts C codes into python script
• Codes for robot energy calculation and optimization using Kalman algorithm
• Codes for force & momentum-limited optimization
• Optimization results (simulation and robot logs)

Before running the codes

Robotics Toolbox (RTB) for Python needs to be installed to run the codes with (Python version > 3.6)

pip3 install roboticstoolbox-python

Some changes were made in the trajectory.py file of RTB for better generation of trapezoidal velocity profiles. Therefore, copy trajectory.py from the root directory of this repo to

~\AppData\Local\Programs\Python\Python311\Lib\site-packages\roboticstoolbox\tools,

and replace the trajectory.py there.

The DH Parameters of Yu+ needs to be included in RTB. To do so, follow the instructions below:

• Find Voraus.py in the root of this repo, copy it to ~\AppData\Local\Programs\Python\Python311\Lib\site-packages\roboticstoolbox\models\DH
• Edit the file __init__.py in the target folder (DH), Add a line:

from roboticstoolbox.models.DH.Voraus import Yu

• Add 'Yu' to the list that defines __all__.

Now the codes should be ready to run.

Run the codes

The optimization algorithm can be found in /Trajectory folder. The main scripts are named by 01_ to 07_, which correspond to the order in which the optimization methods are introduced in the master's thesis. A comparison between HKA and other methods is provided in 08_Comparison.py.