粒子群优化及其在机械臂中的应用研究

IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application Pub Date : 1900-01-01 DOI:10.1109/PACIIA.2008.226

Gang Huang, Dehua Li, Jie Yang

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A Research on Particle Swarm Optimization and Its Application in Robot Manipulators

Trajectory planning problem (TPP) of robot manipulator is a highly constrained and nonlinear optimization problem, aims to minimize the total path motion associated with obstacle avoidance. Based on some certain constraints listed in this paper. A particle swarm optimization (PSO) based algorithm is put forward to solve this issue. The proposed algorithm consists of a hybrid approach regarding SA. Then the SA-PSO has been implemented on a tested example. In addition, a conventional algorithms, namely A* Algorithm (AA), is introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally better (in terms of the convergence time and precision of solution) than the other method.

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IEEE Pacific-Asia Workshop on Computational Intelligence and Industrial Application

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