Trajectory Optimization of a SCARA Manipulator Using Particle Swarm Optimization

The work presents the use of one of the heuristic algorithms - the Particle Swarm Optimization method - to determine the optimal trajectory of end-effector of a SCARA manipulator. The task was to calculate the shortest path connecting two defined points avoiding obstacles. It is assumed that the transfer of elements above obstacles is impossible, therefore the problem is considered in two-dimensional space. The influence of the number of points creating the trajectory, the number of iterations, the impact of cognitive and social parameters as well as the inertia weight on the action of the algorithm and the study results has been analyzed. The shortest trajectory, the position of the arms (using the inverse kinematics), the angular velocity and angular acceleration (using the backward difference method) for each arm have been determined.