Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization

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 redundanc...

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Main Authors: Machmudah, A., Parman, S., Baharom, M.B.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.21886 /
Published: Science and Information Organization 2018
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049533943&doi=10.14569%2fIJACSA.2018.090330&partnerID=40&md5=56aad429c10c816f9dff228a5feca322
http://eprints.utp.edu.my/21886/
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spelling utp-eprints.218862018-11-07T03:39:17Z Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization Machmudah, A. Parman, S. Baharom, M.B. 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. © 2015 The Science and Information (SAI) Organization Limited. Science and Information Organization 2018 Article PeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049533943&doi=10.14569%2fIJACSA.2018.090330&partnerID=40&md5=56aad429c10c816f9dff228a5feca322 Machmudah, A. and Parman, S. and Baharom, M.B. (2018) Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization. International Journal of Advanced Computer Science and Applications, 9 (3). pp. 207-217. http://eprints.utp.edu.my/21886/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description 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. © 2015 The Science and Information (SAI) Organization Limited.
format Article
author Machmudah, A.
Parman, S.
Baharom, M.B.
spellingShingle Machmudah, A.
Parman, S.
Baharom, M.B.
Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
author_sort Machmudah, A.
title Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
title_short Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
title_full Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
title_fullStr Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
title_full_unstemmed Continuous path planning of Kinematically redundant manipulator using Particle Swarm Optimization
title_sort continuous path planning of kinematically redundant manipulator using particle swarm optimization
publisher Science and Information Organization
publishDate 2018
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049533943&doi=10.14569%2fIJACSA.2018.090330&partnerID=40&md5=56aad429c10c816f9dff228a5feca322
http://eprints.utp.edu.my/21886/
_version_ 1741196536784617472
score 11.62408

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