A new method for smooth trajectory planning for 3R robot arm using enhanced particle swarm optimization algorithm

Optimum trajectory planning for robot arm plays an important role in the area of robotics. In this study, we propose the novel point-to-point motion and trajectory planning in obstructed dynamic environments for a three link robot arm using the enhanced particle swarm optimization (EPSO) algorithm. Trajectory planning for a three link robot arm finds an optimal path from a source node to a destination node in an obstructed environment. The developed EPSO has been widely used for constructing an optimal trajectory by utilizing its strong optimization capability. The proposed method significantly reduce the traveling time and space for generating the optimal path, does not exceed a given maximum torque without colliding obstacles in the robot work area. Quadrinomial and quintic polynomials are used to illustrate the parts which join the initial, intermediate and final points at joint-space. Direct kinematics is used in order to handle the configuration of robot arm. The results of simulation and comparison studies depict the capability and performance of the suggested method.