RT Journal Article
T1 Human-Intelligent Trajectory Optimization for Robotic Manipulators with Hybrid PSO-PS Algorithm
A1 Peñacoba-Yagüe, Mario
A1 Sierra-García, Jesús Enrique
A1 Santos Peñas, Matilde
AB Industry 5.0 is driving a new era in industrial automation, where the collaboration between artificial intelligence (AI) and human supervision enables the development of smarter, more adaptive, and more efficient systems. Robotic trajectory generation is a clear example of this new paradigm. Metaheuristic techniques help automatically generate optimized trajectories, thereby improving operational efficiency. However, optimizing trajectories using AI alone also presents limitations. Starting from random trajectories, the optimization process becomes computationally expensive, especially in complex environments. In this context, initial input from human experts plays a crucial role: expert-defined trajectories provide structured, feasible, and contextual starting points that guide AI more effectively toward high-quality solutions. Therefore, this work proposes a novel human-guided trajectory optimization algorithm. In this way, human knowledge, Particle Swarm Optimization (PSO), and Pattern Search (PS) are efficiently combined. The results demonstrate that this approach significantly improves robotic system performance, achieving cycle time reductions of up to 16.69% compared to expert-defined trajectories. This approach establishes a solid framework for intelligent automation in Industry 5.0, promoting the development of more efficient, sustainable, and adaptive robotic systems.
PB Elsevier
YR 2026
FD 2026-01-01
LK https://hdl.handle.net/20.500.14352/126251
UL https://hdl.handle.net/20.500.14352/126251
LA eng
NO Peñacoba Yagüe, M., Sierra-Garcia, J. E., & Santos, M. (2026) Human-Intelligent Trajectory Optimization for Robotic Manipulators with Hybrid Pso-Ps Algorithm. Advanced Engineering Informatics, vol 69, part B, 103941.
NO European Commission
DS Docta Complutense
RD 30 dic 2025