Continuous Path Planning of Kinematically Redundant Manipulator using Particle Swarm Optimization
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2018, Vol 9, Issue 3
Abstract
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.
Authors and Affiliations
Affiani Machmudah, Setyamartana Parman, M. B. Baharom
Keywords
Related Articles
- EP ID EP278260
- DOI 10.14569/IJACSA.2018.090330
- Views 77
- Downloads 0
Iterative Threshold Decoding Of High Rates Quasi-Cyclic OSMLD Codes
Majority logic decoding (MLD) codes are very powerful thanks to the simplicity of the decoder. Nevertheless, to find constructive families of these codes has been recognized to be a hard job. Also, the majority of known...
Smart Cities: A Survey on Security Concerns
A smart city is developed, deployed and maintained with the help of Internet of Things (IoT). The smart cities have become an emerging phenomena with rapid urban growth and boost in the field of information technology. H...
Audio Watermarking with Error Correction
In recent times, communication through the internet has tremendously facilitated the distribution of multimedia data. Although this is indubitably a boon, one of its repercussions is that it has also given impetus to the...
Implementation of the RN Method on FPGA using Xilinx System Generator for Nonlinear System Regression
In this paper, we propose a new approach aiming to ameliorate the performances of the regularization networks (RN) method and speed up its computation time. A considerable rapidity in totaling calculation time and high p...
Linking Context to Data Warehouse Design
Data warehouses are now widely used for analysis and decision support purposes. The availability of software solutions, which are more and more user-friendly and easy to manipulate has made it possible to extend their us...