ABSTRACT
Dynamic analysis of the robot manipulator is a crucial subject in robot arm design. Dynamic equations are very important for estimating the specifications of the robot actuators. In this research, Flower Pollination Algorithm (FPA) was used to find the minimum required torques for the robot manipulator actuation based on optimum trajectories. FPA was applied in two stages. First, the optimum path was planned by this algorithm, and then the algorithm was applied to establish the kinematic equations of the robot to map points from the Cartesian space to the joint space, where the trajectory planning occurred. The robot considered in this paper is the two link planar revolute joint robot RR. Euler-Lagrange formula was used to derive the equations of motion of the robot arm.
