Evolutionary Computation Based Real-time Robot Arm Path-planning Using Beetle Antennae Search

This paper presents a model-free real-time kinematic tracking controller for redundant manipulator. Redundant manipulators are common in industrial applications because of the flexibility and dexterity they get from joints. However, at same time, modeling these systems becomes quite challenging, even simple tasks like trajectory tracking. Some classical approaches being used to tackle issue, including numerical approximation Jacobian pseudo-inverse matrix. These have their limitations as require exact parameters manipulator; not immune position error accumulation with time put manipulator way off target position. Swarm-based meta-heuristic algorithms given new direction solution redundancy resolution problem. computationally intensive, formulated discrete-time, better suited offline computation rather than real-time. We proposed novel continuous-time Zeroing Neural Network Beetle Antennae Search (ZNNBAS). The ZNNBAS algorithm can solve quadratic optimization problem To test its performance, we applied it on 7-DOF two trajectories follow: character ``M" hypotrochoid. was able trace reference minimal errors.