Swarm intelligence
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
The particle swarm - explosion, stability, and convergence in amultidimensional complex space
IEEE Transactions on Evolutionary Computation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Particle Swarm Optimization With Recombination and Dynamic Linkage Discovery
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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In this paper, global optimization approach using particle swarm optimization technique for motion planning of dynamic coupling robotic manipulators, involving the optimization of dynamic performance criteria, has been shown to exhibit certain advantages compared with local optimizers. In this approach, the joint torques of the robotic manipulator are approximated by parameterized B-spline functions, and then the particle swarm optimization algorithm is used to determine the optimal parameters. The optimal motion is thus obtained which satisfies the dynamic constraints condition. By performing numerical simulations, the effectiveness of the proposed motion planning by particle swarm optimization technique is verified.