Introduction
Methodology
Particle swarm optimization
RDV IW (random descending velocity inertia weight) PSO
Serial robot manipulator and kinematics analysis
i | ai (cm) | αi (°) | di (cm) | ϴi (°) (range) |
---|---|---|---|---|
1 | 0 | − 90 | L1 = 5 | − 90 < ϴ1 < 90 |
2 | L2 = 6.5 | − 90 | 0 | − 180 < ϴ2 < 0 |
3 | L3 = 5.5 | − 90 | 0 | − 90 < ϴ3 < 90 |
4 | L4 = 6.5 | − 90 | 0 | − 90 < ϴ4 < 90 |
5 | L5 = 6.5 | 90 | 0 | − 90 < ϴ5 < 90 |
6 | L6 = 6.5 | 0 | 0 | − 90 < ϴ6 < 90 |
7 | L7 = 13 | 0 | 0 | − 90 < ϴ7 < 90 |
Fitness function
Results
Scenario 1
Scenario 2
Discussion
ϴ1 | ϴ2 | ϴ3 | ϴ4 | ϴ5 | ϴ6 | ϴ7 | |
---|---|---|---|---|---|---|---|
Range | − 90 < ϴ1 < 90 | − 180 < ϴ2 < 0 | − 90 < ϴ3 < 90 | − 90 < ϴ4 < 90 | − 90 < ϴ5 < 90 | − 90 < ϴ6 < 90 | − 90 < ϴ7 < 90 |
PSO limit count | 56,947 | 45,523 | 56,938 | 57,145 | 56,732 | 56,815 | 45,957 |
RDV limit count | 18,505 | 19,346 | 17,941 | 19,892 | 15,241 | 15,866 | 16,301 |
Reduction rate (~) | 3× | 2.35× | 3.17× | 2.87× | 3.72× | 3.58× | 2.82× |