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《Process Automation Instrumentation》 2010-02
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Application of BP-MPSO Hybrid Algorithm in Space Path Optimization of Robot

Yang Hui Li Ming Zheng Liwen,et al.  
On the basis of target modeling and environment modeling with BP algorithm for PUMA robot space path,aiming at the problems of limited search space of traditional particle swarm optimization(PSO) algorithm and to easily bring into local optimal point,the modified PSO(MPSO) is proposed.The re-initial process mechanism based on global information feedback is introduced,and the space path of PUMA robot is optimized.The simulation indicates that the algorithm avoids the difficulty in solving the inverse motion equation,and ensures that the global optimal solution will be obtained.The efficiency of path optimization is increased greatly.
【CateGory Index】: TP242.6
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