Trajectory planning for dual arm robot system in consideration of the system controller

The paper has developed optimal trajectory planning for the object manipulated by two robot arms collaborate with each other. The object's trajectory that includes motions along X and Y axes, and object rotation are chosen to be fifth-order polynomial type. ln order to determine the polynomial coefficients, Genetic Algorithm (GA) based optimization is done with robot kinematic and dynamic constraints are considered. Difference from other previous research that use inverse dynamics to calculate input torque, in this paper, the input torque is calculated as controller output that is the same as practical robot system. Finally, simulation works on Matlab-Simulink have been carried out to reconfirm the accuracy and the effectiveness of the designed trajectory.