A Optimized NURBS Curve Trajectory Planning Algorithm Based on Genetic Algorithm

This article mainly designs a trajectory planning algorithm for DELTA parallel robots. This algorithm is a timeoptimal trajectory planning algorithm. The space trajectory is based on the NURBS Curves, that is, the curve equation is calculated after wo know the positions which the robot pass through in the space. Then use the genetic optimization algorithm to optimize the curve, get the optimized curve and then discretize the curve for interpolation calculation. At last we use the V-rep simulation software to simulate the algorithm, the similarity between the simulation trajectory and the calculation trajectory is very well, and the experiment proves that the algorithm is effective.