Robot Manipulator Optimal Control via Ring-Rot-PSO Algorithm

An optimal control problem of a 2-DOF robot manipulator is stated. The problem requires a transition of a manipulated body from an initial to a final position with a complex criterion minimization. It includes integral and maximal components, both involve robot power functions. The problem is reduced to a minimization of the nonlinear objective function of eight arguments. Its solution is found with Ring-Rot-PSO algorithm. Analysis of the optimal control shows the smoothness of robot links' movement and a significant decrease in undesired robot manipulator dynamic and energy indicators.