TY - JOUR
T1 - Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
AU - Machmudah, Affiani
AU - Parman, Setyamartana
AU - Baharom, M. B.
N1 - Publisher Copyright:
© 2015 The Science and Information (SAI) Organization Limited.
PY - 2018
Y1 - 2018
N2 - This paper addresses a problem of a continuous path planning of a redundant manipulator where an end-effector needs to follow a desired path. Based on a geometrical analysis, feasible postures of a self-motion are mapped into an interval so that there will be an angle domain boundary and a redundancy resolution to track the desired path lies within this boundary. To choose a best solution among many possible solutions, meta-heuristic optimizations, namely, a Genetic Algorithm (GA), a Particle Swarm Optimization (PSO), and a Grey Wolf Optimizer (GWO) will be employed with an optimization objective to minimize a joint angle travelling distance. To achieve n-connectivity of sampling points, the angle domain trajectories are modelled using a sinusoidal function generated inside the angle domain boundary. A complex geometrical path obtained from Bezier and algebraic curves are used as the traced path that should be followed by a 3-Degree of Freedom (DOF) arm robot manipulator and a hyper-redundant manipulator. The path from the PSO yields better results than that of the GA and GWO.
AB - This paper addresses a problem of a continuous path planning of a redundant manipulator where an end-effector needs to follow a desired path. Based on a geometrical analysis, feasible postures of a self-motion are mapped into an interval so that there will be an angle domain boundary and a redundancy resolution to track the desired path lies within this boundary. To choose a best solution among many possible solutions, meta-heuristic optimizations, namely, a Genetic Algorithm (GA), a Particle Swarm Optimization (PSO), and a Grey Wolf Optimizer (GWO) will be employed with an optimization objective to minimize a joint angle travelling distance. To achieve n-connectivity of sampling points, the angle domain trajectories are modelled using a sinusoidal function generated inside the angle domain boundary. A complex geometrical path obtained from Bezier and algebraic curves are used as the traced path that should be followed by a 3-Degree of Freedom (DOF) arm robot manipulator and a hyper-redundant manipulator. The path from the PSO yields better results than that of the GA and GWO.
KW - Genetic algorithm
KW - Grey wolf optimizer insert
KW - Particle swarm optimization
KW - Path planning
KW - Redundant manipulator
UR - http://www.scopus.com/inward/record.url?scp=85049533943&partnerID=8YFLogxK
U2 - 10.14569/IJACSA.2018.090330
DO - 10.14569/IJACSA.2018.090330
M3 - Article
AN - SCOPUS:85049533943
SN - 2158-107X
VL - 9
SP - 207
EP - 217
JO - International Journal of Advanced Computer Science and Applications
JF - International Journal of Advanced Computer Science and Applications
IS - 3
ER -