Optimal trajectory planning and obstacle avoidance for flexible manipulators using generalized pattern search

Flexible-link manipulators have high demand in many industrial and space applications. This is simply because they have many advantages over the rigid manipulators such as light weight, fast response time and large payload capacity. Optimal trajectories for a two-link rigid-flexible manipulator based on trajectory tracking and obstacle avoidance criteria are designed using Generalized Pattern Search algorithm (GPS). The GPS algorithm is a hybrid optimization technique combining the Genetic Algorithm and the Pattern Search techniques. The kinematics analysis of flexible link is briefly discussed where the model of flexible link is derived using the Euler-Bernoulli’s beam theory. Simulation analysis for trajectory tracking as well as obstacle avoidance is carried out and the obtained results verified the validity of the proposed approach.