Trajectory planning of redundant robot manipulators using QPSO algorithm

摘要

QPSO algorithm (QPSO) is introduced to design a collision-free trajectory for planar redundant manipulators. Chaotic sequences instead of random sequences are used in QPSO to diversify the QPSO population. Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. QPSO optimizes the trajectory and ensures obstacle avoidance can be achieved. Simulations are carried out for different obstacles to prove the validity of the proposed algorithm. Different test data generated by GA and QPSO are provided with a tabular comparison. Simulation studies show QPSO has potential online usage in engineering and distinct fast computation speed compared with GA.