On the global optimum motion planning for dynamic coupling robotic manipulators using particle swarm optimization technique

摘要

In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions, and then the particle swarm optimization algorithm is used to determine the optimal parameters. The optimal motion is thus obtained which satisfies the dynamic constraints condition. By performing numerical simulations, the effectiveness of the proposed motion planning by particle swarm optimization technique is verified.