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Optimal Trajectory Scheme for Robotic Welding Along Complex Joints Using a Hybrid Multi-Objective Genetic Algorithm
2019
IEEE Access
The problem of trajectory planning is relevant for the proper use of costly robotic systems to mitigate undesirable effects such as vibration and even wear on the mechanical structure of the system. The objective of this study is to design trajectories that are devoid of collision, velocity, acceleration, jerk and snap discontinuities so that the cycle time required to complete the process can be reduced. The trajectory design was constructed for all the six joints, using a 9 th order Bezier
doi:10.1109/access.2019.2950561
fatcat:cfrz7zxh4zhffd34ypsteuxkri