Beetle Antennae Search Algorithm for the Motion Planning of Industrial Manipulator

Beetle antennae search (BAS) algorithm as a computational intelligence algorithm has excellent nonlinear optimization ability applied in scientific and engineering applications. In this chapter, BAS is applied to the redundancy resolution of an industrial manipulator with dynamic joint velocity constraints by searching in high-dimensional space. The addressed application does not need to construct inverse kinematics equations in joint velocity level but directly uses forward kinematics to construct antennae fitness function. The experiment is practiced in the CoppeliaSim simulator for the industrial IIWA Kuka industrial manipulator to verify the performance.KeywordsBeetle Antennae SearchMotion planningRedundancy resolution