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

被引：10
|
作者：
Choubey, Chandan [1 ]
Ohri, Jyoti [1 ]
机构：
[1] NIT Kurukshetra, Elect Dept, Kurukshetra, Haryana, India
来源：
ROBOTICA | 2021年 / 39卷 / 03期
关键词：
Grey Wolf Optimization; Optimal trajectory generation; 6-DOF robotic manipulators; Smooth continuous path motion;
D O I：
10.1017/S0263574720000442
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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.
引用
收藏
页码：411 / 427
页数：17
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