Optimal Trajectory Generation for a 6-DOF Parallel Manipulator Using Grey Wolf Optimization Algorithm
Chandan Choubey, Jyoti Ohri
Abstract
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.
Topics & Concepts
TrajectoryPath (computing)Computer scienceAlgorithmTrajectory optimizationTracking errorControl theory (sociology)Joint (building)Artificial intelligenceControl (management)EngineeringArchitectural engineeringPhysicsProgramming languageAstronomyRobotic Mechanisms and DynamicsRobotic Path Planning AlgorithmsControl and Dynamics of Mobile Robots