Special Topics in Intelligent Optimization Algorithm and Application
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App. Res. of Comp. Printed Article
Vol. 41, 2024 No. 6
1649-1655

Optimisation of energy consumption trajectory of robotic arm based on improved particle swarm algorithm

Wen Qiongyang
Zhu Xuejun
Li Yi
Yu Checao
School of Mechanical Engineering, Ningxia University, Yinchuan 750021, China
DOI: 10.19734/j.issn.1001-3695.2023.10.0441

Abstract

This paper proposed a particle swarm algorithm based on pyramid layer topology to optimize energy consumption trajectories of industrial robots. The algorithm introduced a pyramid layer topology to sort and stratify the particles thus improving the competitive strategy of the algorithm and increasing the population diversity. The algorithm introduced a new cooperation strategy to update the speed and position of the particles. It introduced a victory percentage to adaptively adjust the weight coefficients of the particle swarm algorithm and improved the search efficiency of the particles. In order to verify the effectiveness of the algorithm, this paper tested it on the set of test functions and compared it with other eight variants of particle swarm algorithms. The results show that the performance of the proposed algorithm has significant advantages. Finally, it applied the algorithm to industrial robot trajectory planning. Simulation experiments show that the algorithm can effectively solve the optimal trajectory of the robot's energy consumption, and the energy consumption of the robot is significantly reduced, which meets the kinematics and dynamics constraints of industrial robots.

Foundation Support

国家自然科学基金资助项目(51765056)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2023.10.0441
Publish at: Application Research of Computers Printed Article, Vol. 41, 2024 No. 6
Section: Special Topics in Intelligent Optimization Algorithm and Application
Pages: 1649-1655
Serial Number: 1001-3695(2024)06-007-1649-07

Publish History

[2024-02-01] Accepted Paper
[2024-06-05] Printed Article

Cite This Article

温琼阳, 朱学军, 李毅, 等. 基于改进粒子群算法的机械臂能耗轨迹优化 [J]. 计算机应用研究, 2024, 41 (6): 1649-1655. (Wen Qiongyang, Zhu Xuejun, Li Yi, et al. Optimisation of energy consumption trajectory of robotic arm based on improved particle swarm algorithm [J]. Application Research of Computers, 2024, 41 (6): 1649-1655. )

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  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

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