Computer Science ›› 2009, Vol. 36 ›› Issue (11): 232-234.
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HUANG Gang,LI De-hua,YANG Jie
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Published:
Abstract: 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. A hybrid optimization algorithm integrating SA and PSO was presented to address the motion planning problem of robot arms. I}hen the SA-PSO was implemented on a tested example. In addition, a conventional algorithms, namely A* Algorithm (AA),was introduced to make a comparison with SA-PSO. The computational results show that the developed algorithm is computationally better than the other method.
Key words: Trajectory planning, Particle swarm algorithm, Simplex algorithm, Robot arms
HUANG Gang,LI De-hua,YANG Jie. Hybrid Particle Swarm Algorithm for Optimal Motion Planning of Robot Arms[J].Computer Science, 2009, 36(11): 232-234.
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