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Optimal trajectory planning for robot manipulators is a very important issue in the research field of robotics. Many applications require smooth trajectories and the minimization of a performance index, usually the traveling time or the mechanical energy of the actuators. This paper presents a novel method that uses eighth-degree polynomial functions to generate smooth trajectories for the parametric...
QPSO algorithm (QPSO) is introduced to design a collision-free trajectory for planar redundant manipulators. Chaotic sequences instead of random sequences are used in QPSO to diversify the QPSO population. Kinematics redundancy is integrated into the presented method as planning variables. Quadrinomial and quintic polynomials are used to describe the segment of the trajectory. QPSO optimizes the trajectory...
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