Optimal Trajectory Generation for a 6-DOF Parallel Manipulator Using Grey Wolf Optimization Algorithm

Optimal Trajectory Generation for a 6-DOF Parallel Manipulator Using Grey Wolf Optimization Algorithm

In this paper we designed an optimal trajectory generation (OTG) method to generate easy and errorless continuous path motion with quick converging using Grey Wolf Optimization (GWO) method. The proposed OTG method finds the trajectory path with minimum tracking error, combined speed, joint increasi...

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Veröffentlicht in:Robotica 2021-03, Vol.39 (3), p.411-427, Article 0263574720000442
Hauptverfasser: Choubey, Chandan, Ohri, Jyoti
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Parallel degrees of freedom
Robotics
Science & Technology
Technology
Tracking errors
Trajectory optimization
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Zusammenfassung:In this paper we designed an optimal trajectory generation (OTG) method to generate easy and errorless continuous path motion with quick converging using Grey Wolf Optimization (GWO) method. The proposed OTG method finds the trajectory path with minimum tracking error, combined speed, joint increasing speed wrinkle, as well as joint lurching move to follow an error-free smooth continuous path.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574720000442