Evolutionary algorithm to solve the trajectory planning problem, with robot dynamics considerations

Fares J. Abu-Dakka, Francisco Valero, Jose Luis Suñer, Vicente Mata

Research output: Contribution to journalArticlepeer-review


This paper presents a new genetic algorithm methodology to obtain a smooth trajectory planning for industrial robots in complex environments. This method aims to gradually create the collision free trajectory as the robot moves. The presented method deals with the uncertainties associated with the kinematic properties of intermediate via points since they are generated as the algorithm evolves towards the solution. As well as that, the objective of this algorithm is to minimize the trajectory time, which guide the robot motion. As an application example, this algorithm is applied over Puma 560 robot. Some numerical examples are provided in this paper to evaluate the functionality of the algorithm.

Original languageEnglish (US)
Pages (from-to)15-20
Number of pages6
JournalInternational Journal of Mechanics and Control
Issue number1
StatePublished - 2012


  • Adjacent configurations
  • Genetic algorithms
  • Obstacles avoidance
  • Trajectory planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics


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