Engineering Mechanics

Proceedings Vol. 23 (2017)

ENGINEERING MECHANICS 2017

Copyright © 2017 Brno University of Technology, Faculty of Mechanical Engineering, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno

 

Cekus D., Skrobek D.
pages 238 - 241, full text

The paper presents the using of Particle Swarm Optimization (PSO) method to determine the shortest trajectory of the end-effector of SCARA manipulator. It has been assumed that the obstacles occur in the workspace, but the transfer above them is impossible, therefore the problem is considered in twodimensional space. In the PSO algorithm the impact of the inertia weight of the length of the searched minimal trajectory has been shown. For found out trajectory the electricity consumption required to execute a duty cycle of SCARA manipulator has been determined. Only theoretical considerations were conducted.

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