Optimal point-to-point trajectory planning for planar redundant manipulator is considered in this study. The main objective is to minimize the sum of the position error of the end-effector at each intermediate point along the trajectory so that the end-effector can track the prescribed trajectory accurately. An algorithm combining Genetic Algorithm and Pattern Search as a Generalized Pattern Search GPS is introduced to design the optimal trajectory. To verify the proposed algorithm, simulations for a 3-D-O-F planar manipulator with different end-effector trajectories have been carried out. A comparison between the Genetic Algorithm and the Generalized Pattern Search shows that The GPS gives excellent tracking performance.
@article{arxiv.cs/0601063,
title = {Optimal Point-to-Point Trajectory Tracking of Redundant Manipulators using Generalized Pattern Search},
author = {Atef A. Ata and Thi Rein Myo},
journal= {arXiv preprint arXiv:cs/0601063},
year = {2007}
}