A Novel Solution in Tracking Control of Human-Robot Collaboration in the Industrial Workplace

This article introduces a bio-inspired algorithm called Beetle Antennae Search (BAS), for tracking control of a redundant manipulator with a predefined trajectory. The algorithm mimics the ability of insects with antennae to find food. By introducing an objective function, the BAS attempts to reduce the error between the manipulator and the next point in the trajectory. The algorithm’s formula and the manipulator’s kinematic model were also mentioned in the article. Theoretical analysis demonstrates that convergence and stability and multiple trajectories with different complexity have been simulated on a virtual 5-DoF redundant manipulator to analyze the performance of the proposed framework. The results show that this algorithm is suitable for all types of manipulator kinematic models and any trajectory as long as the trajectory does not get beyond the operating area of the manipulator. From these achievements, it could be seen clearly that the proposed method is effective and feasible in the industrial application.