PSO Based Path Planning of a Six-Axis Industrial Robot

Abstract

Aristo robot is a 6-axis articulated robot widely used in industries to lift small parts with greater accuracy. The use of robot in production sector depends upon the efficiency with which it performs a given task with shortest possible time. This research presents a proposal, to optimize the path for a particular task by adopting Particle Swarm Optimization (PSO) algorithm. For the analysis of optimal path, total ten numbers of objects have been defined and the robot has to cover up all objects with all possible paths with minimum cycle time. The optimal solution is obtained using robomaster simulation software and the global best solution is obtained using PSO. The program for optimization of path length is written in MATLAB software. The global best result obtained using PSO is a simple method for solving path planning problems for any industrial applications.