Paper #5

Whale-Based Trajectory Optimization Algorithm for 6 DOF Robotic Arm

Mahmoud A. A. Mousa, Abdelrahman T. Elgohr and Hatem A. Khater

Abstract: Trajectory optimal control for a robotic arm with a high degree of freedom (DOF) is challenging. The design space for that problem is complex and the search for an optimal solution is demanding. The design of a robotic arm's trajectory is based on solving the inverse kinematics problem, considering additional refinements influenced by factors like total rotating angle, reachability time, minimum execution time, obstacle avoidance, and energy consumption minimization. Due to the complexity of the design space, in this paper, genetic algorithm (GA) optimization and whale optimization algorithm (WOA) have been used to achieve robotic arm trajectory control while maintaining a minimum reachability time. To validate the suggested techniques, a case study was conducted on a 6 DOF KUKA KR 4 R600 robot arm to control subject to its constraints. Sets of consecutive points forming four different paths were inputted to the algorithms. The goal was to reach all these points, in order, with a minimum total reachability time. As a result of this paper, we shown that the whale optimization algorithm provides better performance than the genetic algorithm with a factor of more than 2.5 while satisfying the reachability constraints.

Keywords: Genetic Algorithm; Kinematics Analysis; Trajectory Optimization; Whale Optimization Algorithm; 6 DOF Robotic Arm.