Cherviatsova

The paper is dedicated to an approximation of a set of attainability for type “trunk” multisectional robot-manipulator. SPSO method was developed and used for the task resolution. SPSO is based on well-known MOPSO method that is used for multi-objective optimization task. SPSO method as well as MOPSO method implements one of the version of particle swarm optimization method (PSO) that is often used for global optimization tasks. Sigma-algorithm is used for finding non-dominated solutions. SPSO effectiveness is demonstrated for several tasks of a set of attainability search for both with and without obstacles.