A Mathematical Modeling and Optimization Approach for Trajectory Planning of Robot Manipulators

摘要

This paper presents a method for the problem of optimal trajectory planning of redundant robot manipulators in the presence of fixed obstacles. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. Cultural based PSO algorithm (CBPSO) is proposed to design a collision-free trajectory for planar redundant manipulators. CBPSO optimizes the trajectory and ensures that 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, QPSO and CBPSO are provided with a tabular comparison. Simulation studies show CBPSO has potential online usage in engineering and distinct fast computation speed compared with the other two algorithms. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories.