Optimization of a Robotic Manipulation Path by an Evolution Strategy and Particle Swarm Optimization

Abstract

This research work focusses on the optimization of a robotic manipulation problem. The problem is modeled with the robot simulation software V-REP. The objectives are the optimization movement path of the robot and its robotic arm for certain positions and orientations with respect to energy consumption. The paper compares an evolution strategy with particle swarm optimization to minimize deviations of position and orientation while using forward kinematics. Experiments to evaluate the algorithms are presented and discussed.