Modelling and Optimization Approach for Trajectory Planning of Three Freedom Planar Manipulators

In this paper, we present a method for the problem of the optimal trajectory planning of redundant robot manipulators in the presence of fixed obstacles. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. Cultural based PSO (CBPSO) algorithm is proposed to design a collision-free trajectory for planar redundant manipulators. Kinematics redundancy is integrated into the presented method as planning variables. CBPSO optimizes the trajectory and ensures that obstacle avoidance can be achieved. Simulations are carried out for different obstacles to prove the validity of the proposed algorithm. Different test data generated by GA, QPSO, and CBPSO are provided with a tabular comparison. Simulation studies show CBPSO has potential online usage in engineering and distinct fast computation speed compared with the other two algorithms. Results demonstrate the effectiveness and capability of the proposed method in generating optimized collision-free trajectories. JIN-CHAO GUO et al. 2