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Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots

[+] Author Affiliations
Anselmo Rafael Cukla, Rafael Crespo Izquierdo, Eduardo André Perondi, Mario Roland Sobczyk, Flavio José Lorini

Universidade Federal do Rio Grande do Sul, Porto Alegre, Brazil

José Barata

UNINOVA, Setúbal, Portugal

Paper No. FPNI2016-1556, pp. V001T01A035; 7 pages
  • 9th FPNI Ph.D. Symposium on Fluid Power
  • 9th FPNI Ph.D. Symposium on Fluid Power
  • Florianópolis, SC, Brazil, October 26–28, 2016
  • Conference Sponsors: Fluid Power Net International (FPNI), Federal University of Santa Catarina (UFSC), Brazil
  • ISBN: 978-0-7918-5047-3
  • Copyright © 2016 by ASME


One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of “agent”, which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems.

The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.

Copyright © 2016 by ASME



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