Robot Arm Trajectory Planning Optimization Based on Integration of Particle Swarm Optimization and A* Algorithm

摘要

The expanded utilization of the robot arm in the industrial revolution urges for upgrading the robot arm path planning. In this paper, the hybridization method of A* and particle swarm optimization (PSO) algorithms is proposed to achieve the optimal trajectory planning of the two-link robot arm. The objective of the proposed hybrid method is to find the free-collision shortest path and generation of the corresponding smooth trajectory while satisfying certain constraints of motion objectives. The free Cartesian space map of two degree of freedom (2-DOF) arm has been constructed by using inverse kinematic to attain safety path planning without any collision probability. A* algorithm has been applied to find the shortest path. The essential function of use PSO algorithm is to specify the optimal control effect points for the corresponding shortest trajectory of arm end-effector. Cubic Polynomial equation is applied to generate a smooth trajectory path from initial to goal configurations during a specified period. The derived results of proposed method implementation demonstrates accuracy and efficiency of proposed method performance in achieving the optimal path and trajectory planning.