Trajectory planning for 6-axis robot arm with particle swarm optimization algorithm

With the developing technology, the use of robotic systems in solving problems in many different areas in industry and daily life is increasing. The rapid development of technology reduces the cost and production time in the production process in industrial areas; accelerated the efforts to increase the business volume and production capacity. Depending on these factors, robotic arm systems, which are highly preferred to be used in the industry, cause trajectory control, which is one of the important problems, and necessitates the necessary trajectory planning. As a result, robotic systems must perform their actions between the start and end points in the working space in a controlled manner without vibration, without hitting obstacles and without forcing the movement capacity. For this purpose, the technical information of the robotic arm with 6 degrees of freedom, which is located in the Mechatronics Engineering laboratory of Isparta University of Applied Sciences and prototyped by Acrome company, was used and a robotic arm was created in the simulation environment with the Matlab Robotic Toolbox library. Trajectory planning between the start and target points of the robotic arm was performed using particle swarm optimization (PSO). It is aimed that the position, velocity and acceleration be continuous between the start and end points by using a fifth-degree polynomial with trajectory planning in joint space. As a result of the study, the optimized and optimization results were compared, and when the results were examined, it was observed that optimum trajectories were created between the start and end points for the 6-axis robotic arm in the presence of obstacles and in an unobstructed environment.