Obstacle Avoidance Optimization of Joint Robot Based on Partial PSO Algorithm

Jun Wei Zhao; Yan Qin Li; Guo Qiang Chen

doi:10.4028/www.scientific.net/AMR.267.574

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 267Obstacle Avoidance Optimization of Joint Robot...

Obstacle Avoidance Optimization of Joint Robot Based on Partial PSO Algorithm

Abstract:

Aiming at the joint robot path plan in unknown environment, the paper adopts the method of obstacle avoidance in X-Y plane. The obstacles exist in the Cartesian space are transformed into the joint blind regions in the Joint (C) space through geometry principle and inverse kinematics. The simulation using the partial particle swarm optimization (PSO) algorithm is utilized in seeking the angles that can avoid obstacles. Finally the path in the Cartesian space is obtained through transforming angles. The method is verified to be simple and effective.

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Periodical:

Advanced Materials Research (Volume 267)

Pages:

574-577

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.267.574

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Online since:

June 2011

Authors:

Jun Wei Zhao, Yan Qin Li, Guo Qiang Chen

Keywords:

Grid Method, Joint Robot, Obstacle Avoidance, Partial PSO Algorithm

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