Lower Distortion in Trajectory Planning for a Rigid-Flexible Manipulator Based on PSO Algorithm

Abstract

This paper presents a novel trajectory planning for a multilink rigid-flexible manipulator. An original trajectory is given according to the site condition and requirement of motion, and desired trajectory is determined by using an optimization. To satisfy the requirement of motion with restrictions, the desired trajectory cannot significantly deviate from the original trajectory. Consequently, the lower distortion in trajectory planning should be considered in optimization algorithm. Two different formulations of trajectory are introduced in two optimization algorithms to compare the distortion degree. Finally, the calculation samples are addressed by using specific site conditions and requirements of motion to verify the validity of proposal.