Robot path control based on PSO with fractional-order velocity

Abstract

The particle swarm optimization algorithm (PSO) is widely used and therefore it has been deeply studied in order to understand the parameters influence on the final results. In this paper we study the modification of the common approach. We decided to utilize method that alters the velocity update rule which now uses the fractional-order derivative. For derivative discretization we propose use of four conversion rules. We propose the application of this method to solving the inverse kinematics problem and therefore, to path control of an industrial redundant manipulator.