Optimal Motion Planning For a Robot Arm by Using Artificial Bee Colony ( ABC ) Algorithm

This work is concentrated to optimize the trajectory for planer two-link robot. The whole travel of the trajectory is divided into two parts, which consists of fourth order polynomial trajectory for the one part and fifth order trajectory for the second part. There are many optimization algorithms, which can be implemented to solve such problems. Evolutionary algorithms are also tried by many researchers to solve such trajectory optimization problems. Evolutionary algorithms are capable of giving global optimum solution and traditional optimization techniques converge to local optima and so they are not suitable for the trajectory problems. In this work artificial bee colony (ABC) algorithm is implemented to solve trajectory optimization problem. The objective function for the proposed ABC is to minimize traveling time and space, while not exceeding a maximum pre-defined torque. The objective function consist of four parameter, excessive driving torque, total joint traveling distance, total joint Cartesian length and total consumed time for robot motion.