Design and Implementation of Obstacle Avoidance and Grasping Posture Control of Arm for Home Service Robot by Adaptive Particle Swarm Optimization Algorithms

Abstract

This dissertation focuses on obstacle avoidance when moving a robot arm to an object and the grasping posture control design for a home service robot Each motor on the robotic arm must be able to rotate to the appropriate degree when moving the robotic arm to the object task of the home service robot This dissertation employs a particle swarm optimization (PSO) algorithm to calculate each motor’s degree of rotation In the section concerning obstacle avoidance the dissertation proposes an improved adaptive PSO algorithm with a fitness function that works under the obstacle environment to achieve a robotic arm obstacle avoidance design On the other hand the grasping task of the robotic arm not only considers the object coordinate position but also cooperates with the appropriate grasping posture This dissertation proposes an improved adaptive PSO algorithm using the scout bee behavior identified in the artificial bee colony algorithm and applies it to improve the robotic arm grasping posture control design Finally the experimental results show the feasibility and practicality of the proposed intelligent algorithm

Date of Award	2016 Dec 26
Original language	English
Supervisor	Tzuu-Hseng S. Li (Supervisor)