Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search

Blog Article

Optimal point-to-point trajectory planning for planar redundant manipulator BERBERINE 500 is considered in this study.The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately.An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory.To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been Oven Globe carried out.A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.