A Heuristic Comparison of Optimization Algorithms for the Trajectory Planning of a 4-axis SCARA Robot Manipulator

摘要

This chapter presents four heuristic optimization techniques to optimize and compare the results inverse kinematics(IK)solutions, firefly, bat, particle swarm optimization(PSO)and teaching-learning-based optimization(TLBO)algorithm has been used as the optimization method for the intended purpose. In order to execute the algorithms, an objective function as the Euclidean distance between two points in space has been assigned. For each method, the convergence of the optimal position trajectory towards a set target point has been shown. The best cost plots for all algorithms have been presented. The error in positions of the obtained trajectory in X, Y and Z directions for different methods is depicted. In order to compare the outcomes of IK solutions obtained by executing the algorithms, a four-DOF SCARA robot manipulator has been considered for illustration purpose.