Optimal Trajectory Planning for Robotic Manipulators Using Chicken Swarm Optimization

摘要

The optimal trajectory planning is one fundamental problem in the area of robotic research. In this paper, chicken swarm optimization (CSO), a new bio-inspired algorithm, is applied to optimize the trajectory for the robotic manipulators. The trajectory is constructed by three-order B-spline curves and complies with the kinematical constraints. The algorithm adopts minimum travelling time as the objective function in order to obtain the optimal trajectory. The experiments are executed with a 6-DOF robotic manipulator that is applied to surface polishing of metallic workpiece. The experimental results verify the effectiveness of the method.