A novel pray optimization algorithm for six degree of freedom robotic arm trajectory planning

Area of Science:

• Computational Intelligence
• Optimization Algorithms
• Robotics and Automation

Background:

• Complex engineering and robotic systems require advanced optimization techniques.
• Existing metaheuristic algorithms face challenges in constrained search spaces.
• Novel approaches are needed to enhance optimization efficiency and effectiveness.

Purpose of the Study:

• To introduce the Pray Optimization Algorithm (POA), a novel metaheuristic.
• To validate the POA's efficacy on benchmark functions and real-world engineering problems.
• To compare POA's performance against established state-of-the-art optimization methods.

Main Methods:

• Developed a three-phase mathematical model for the Pray Optimization Algorithm (POA).
• Validated POA using the CEC2017 benchmark suite and statistical tests (Wilcoxon, Friedman).
• Applied POA to solve classical engineering optimization problems and robotic arm trajectory planning.

Main Results:

• POA demonstrated statistically superior performance compared to six high-performing metaheuristics on benchmark tests.
• The algorithm successfully optimized the trajectory planning of a 6-DOF industrial robotic arm.
• POA outperformed five state-of-the-art methods in practical engineering optimization scenarios.

Conclusions:

• The Pray Optimization Algorithm (POA) is an effective metaheuristic for complex engineering problems.
• POA shows significant potential for navigating constrained, real-world optimization search spaces.
• The prayer-inspired approach offers a novel and powerful tool for computational intelligence.