Robotic applications with Particle Swarm Optimization (PSO)

摘要

Swarm Intelligence (SI) is inspired from the study of colonies of swarms in Nature. This paper introduces a study originated on swarm intelligence, Particle Swarm Optimization (PSO). Three case studies on one link arm, a SCARA robot and a electrohydraulic robot - are presented on both simulation and experimental base to show effectiveness and simplicity of application. Convergence results of the cases are shown on robot trajectory control (PSO-PID) and robotic system identification (PSO-NN).