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

Published online by Cambridge University Press:  28 May 2020

Chandan Choubey Open the ORCID record for Chandan Choubey [Opens in a new window]  and
Jyoti Ohri
Chandan Choubey*
Affiliation:
Electrical Department, NIT Kurukshetra, Haryana, India E-mail: ohrijyoti@rediffmail.com
Jyoti Ohri
Affiliation:
Electrical Department, NIT Kurukshetra, Haryana, India E-mail: ohrijyoti@rediffmail.com
*
*Corresponding author. E-mail: er.choubey.chandan@gmail.com
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Summary

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.

Keywords

Grey Wolf OptimizationOptimal trajectory generation6-DOF robotic manipulatorsSmooth continuous path motion
Type
Articles
Information
Robotica , Volume 39 , Issue 3 , March 2021 , pp. 411 - 427
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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