Optimal Trajectory of Robot Manipulator Using Harmony Search Algorithms

This research proposes a method of obtaining an optimal trajectory of robot manipulator by using Harmony Search (HS). Despite the fact that the Sequential Quadratic Programming (SQP) is popular as a solving method for optimum trajectory problems, SQP needs a suitable initial value. The HS algorithm does however not require such process of setting initial value. Two results are compared using minimum traveling time as the objective function since time is the vital key for productivity particularly in the industrial sector. The state variables of 6-DOFs robot arm are simulated and the kinematics constraints are also considered. The results show that HS obtains the better solution than SQP method with the unsuitable initial value. Moreover, the hybrid HS and SQP method, Hybrid Harmony Search Algorithm (HHSA) is effective and acceptable for solving the optimal trajectory problem without its initial value finding process. Therefore, the important role of HS is that it can be applied to assist SQP to converge to the global optimum.