Research Article
Solving the Time-Jerk Optimal Trajectory Planning Problem of a Robot Using Augmented Lagrange Constrained Particle Swarm Optimization
Table 2
Results of trajectory optimization when utilizing the ALCPSO algorithm.
| | Parameters | Numerical results () | | Initial | | | | | | | | | | |
| | 7.5 | 0.2527 | 2.8834 | 3.5899 | 5.0726 | 4.9810 | | 7.5 | 4.8729 | 5.4128 | 6.7907 | 8.1513 | 8.9584 | | 7.5 | 5.2656 | 6.1875 | 6.5949 | 8.3171 | 8.7707 | | 7.5 | 3.2660 | 5.2699 | 5.8325 | 7.4311 | 7.6433 | | 7.5 | 5.1017 | 4.8675 | 6.4061 | 7.9223 | 8.4227 | | 7.5 | 5.2044 | 5.5472 | 6.6090 | 8.2754 | 8.7030 | | 7.5 | 3.9063 | 4.2672 | 7.2471 | 8.9705 | 9.5342 | | 7.5 | 0.2826 | 2.7232 | 2.4045 | 3.0351 | 2.9867 | | 60 | 28.1523 | 37.1587 | 45.4748 | 57.1754 | 60.0000 | | 0.1119 | 22.6147 | 0.8664 | 0.2714 | 0.0861 | 0.0678 | | / | 84.4568 | 106.508 | 81.7840 | 41.1919 | 6.783 | | Time (sec) | 1.749 | 82.125 | 33.130 | 30.369 | 29.0513 | 40.212 |
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