A Research on Particle Swarm Optimization and Its Application in Robot Manipulators

摘要

Trajectory Planning Problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. Based on some certain constraints listed in this paper. A Particle Swarm Optimization (PSO) based algorithm is put forward to solve this issue. The proposed algorithm consists of a hybrid approach regarding SA. Then the SA-PSO has been implemented on a tested example. In addition, a conventional algorithms, namely A* Algorithm (AA), is introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally better (in terms of the convergence time and precision of solution) than the other method.