APPROACH TO OPTIMIZING THE TRAJECTORY OF A ROBOTIC MANIPULATOR ARM WITH 3-DOF (RRP) USING INTELLIGENT ALGORITHMS (PSO)

Abstract

In this study, we address the problem of trajectory planning for a robotic manipulator, which consists of optimizing the movement of an end-effector to reach a specific position and orientation in the operational space. The aim is to find the optimal trajectory that meets several criteria, such as minimizing execution time, respecting environmental constraints, the robot's mechanical limitations and the accuracy required to complete the task. To this end, we propose an approach based on the Particle Swarm Optimization (PSO) algorithm, which is inspired by the collective behavior of biological systems, notably schools of fish or flocks of birds. This algorithm is used to simultaneously optimize the trajectory and torque of an RRP (rotation-rotation-prism) spatial manipulator robot with three degrees of freedom (3-DOF). Due to their complex dynamics and the evolution of their trajectories in three-dimensional space, this type of robot faces particular challenges that require strict management of constraints and performance. The implementation of our method makes it possible to obtain optimized trajectories in terms of precision and energy consumption. The results show that our method considerably improves the efficiency of the movement, even if this is accompanied by a higher computation time. This research provides advances in the optimization of robot manipulator trajectories, paving the way for applications in environments where precision and robustness are essential, such as space, industrial and medical robotics.