Optimal yörünge planlaması tasarımı modifiye sürü kullanılan robot kol için algoritma

Much attention has been paid to improve, achieve the efficient performance of robot arm and to cope with the unlimited needs and demands of the worldwide industrial revolution that necessitate the availability of high productivity and accuracy. The finding of an optimal path possesses a significant role in guiding and attaining the accurate robot arm movements. In the current work, the optimal path and trajectory planning of two-link robot arm with 2-DOF in 2-D static known environment has been analyzed by proposing the Particle Swarm Optimization algorithm (PSO) and cubic polynomial equations. The primary function of modified PSO method is to generate the free-collision shortest path through searching within the free Cartesian space. The simulation results illustrate the efficiency of proposed methods performance in finding and determining the optimal path and trajectory even in various degree of environmental complexity. Moreover, the experimental work has been tested for practical physical validation in order to check the quality of the planned path practically and to analyze the difficulties of optimal practical path planning practically.