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Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization

This paper addresses a point-to-point robotic arm path planning in complex obstacle environments. To guarantee a smoothness of a motion during a manipulation, a continuous function of a sixth degree polynomial is utilized as a joint angle path. The feasible sixth degree joint angle path will be sear...

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Main Authors: Machmudah, A., Parman, S.
Format: Article
Published: 2013
Online Access:https://www.scopus.com/inward/record.uri?eid=2-s2.0-84885446092&doi=10.1007%2f978-3-642-30504-7_41&partnerID=40&md5=ff77365405857ce42f2f513633a237d6
http://eprints.utp.edu.my/32745/
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spelling my.utp.eprints.327452022-03-30T01:05:31Z Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization Machmudah, A. Parman, S. This paper addresses a point-to-point robotic arm path planning in complex obstacle environments. To guarantee a smoothness of a motion during a manipulation, a continuous function of a sixth degree polynomial is utilized as a joint angle path. The feasible sixth degree joint angle path will be searched utilizing a Particle Swarm Optimization (PSO). There is no information regarding the region of this feasible joint angle so that the PSO should search it first. At the first computation where the population is generated randomly, all particles commonly collide with obstacles. The searching computation will be continued till at certain iteration for which the feasible particle is met. Then, the PSO should evolve this particle to find the best one with the highest fitness value. It is very hard computation since it involves a requirement to escape from zero fitness. The most difficult computation in this case is in finding at least one particle that lies in the feasible zone. In this paper, the PSO has shown its good performance in finding the feasible motion of the sixth degree polynomial joint angle path by utilizing just the information of a forward kinematics. To simulate the proposed path planning, 3-Degree of Freedom (DOF) planar robot will be utilized. © Springer-Verlag Berlin Heidelberg 2013. 2013 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-84885446092&doi=10.1007%2f978-3-642-30504-7_41&partnerID=40&md5=ff77365405857ce42f2f513633a237d6 Machmudah, A. and Parman, S. (2013) Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization. Intelligent Systems Reference Library, 38 . pp. 1047-1071. http://eprints.utp.edu.my/32745/
institution Universiti Teknologi Petronas
building UTP Resource Centre
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Petronas
content_source UTP Institutional Repository
url_provider http://eprints.utp.edu.my/
description This paper addresses a point-to-point robotic arm path planning in complex obstacle environments. To guarantee a smoothness of a motion during a manipulation, a continuous function of a sixth degree polynomial is utilized as a joint angle path. The feasible sixth degree joint angle path will be searched utilizing a Particle Swarm Optimization (PSO). There is no information regarding the region of this feasible joint angle so that the PSO should search it first. At the first computation where the population is generated randomly, all particles commonly collide with obstacles. The searching computation will be continued till at certain iteration for which the feasible particle is met. Then, the PSO should evolve this particle to find the best one with the highest fitness value. It is very hard computation since it involves a requirement to escape from zero fitness. The most difficult computation in this case is in finding at least one particle that lies in the feasible zone. In this paper, the PSO has shown its good performance in finding the feasible motion of the sixth degree polynomial joint angle path by utilizing just the information of a forward kinematics. To simulate the proposed path planning, 3-Degree of Freedom (DOF) planar robot will be utilized. © Springer-Verlag Berlin Heidelberg 2013.
format Article
author Machmudah, A.
Parman, S.
spellingShingle Machmudah, A.
Parman, S.
Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
author_facet Machmudah, A.
Parman, S.
author_sort Machmudah, A.
title Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
title_short Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
title_full Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
title_fullStr Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
title_full_unstemmed Feasible Joint Angle Continuous Function of Robotics Arm in Obstacles Environment Using Particle Swarm Optimization
title_sort feasible joint angle continuous function of robotics arm in obstacles environment using particle swarm optimization
publishDate 2013
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-84885446092&doi=10.1007%2f978-3-642-30504-7_41&partnerID=40&md5=ff77365405857ce42f2f513633a237d6
http://eprints.utp.edu.my/32745/
_version_ 1738657429829189632
score 13.251813

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