Trajectories planning applied to a robot manipulator considering deviation obstacles based on metaheristico Firefly algorithm (FMA)
Rafael Crespo Izquierdo1; Anselmo Rafael Cukla1; Flavio José Lorini1; Eduardo André Perondi1; Leonardo Missiaggia2
1 Federal University of Rio Grande do Sul; 2 Sul-Rio-Grandense Federal Institute of Education, Science and Technology (IFSul)
doi:10.20906/CPS/COB-2015-1905
Resumo
The robot manipulators Path planning is an issue great important in the performance of industrial processes automation, because using a suitable trajectory is possible to meet requirements such as reducing cycle times, prevent obstacles in the robot workload and smoothing of movements performed in handling parts. In this area there are many studies being conducted. These studies are related to the trajectories form, time optimization, jerk, energy minimization, among others. In this research, the objective is use an optimization technique based on Metaheuristic Algorithm Firefly (FMA) to trajectory planning of a robot manipulator with 5 degrees of freedom, considering the obstacle avoidance. This paper consists in identifying of intermediate points of the path through the FMA algorithm, for posterior interpolation through a polynomial function, describing the trajectory executed by the robot. In the implementing this algorithm, it is defined an objective function for the solution of the problem, that is to minimize the distance traveled, the amount of movement of the robot, considering the restrictions associated to the obstacles. Regarding the results, it is verified that the methodology meets the objectives, where the metaheuristic optimization techniques are adequate to the planning of robot trajectories.
Palavras-chave: Robotics; Trajectories planning; Metaheuristics algorithms