A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators

Autor:	Carlos Lopez-Franco, Dario Diaz, Jesus Hernandez-Barragan, Nancy Arana-Daniel, Michel Lopez-Franco
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	path tracking manipulator robot inverse kinematics metaheuristic optimization end-effector pose Mathematics QA1-939
Zdroj:	Mathematics, Vol 10, Iss 7, p 1051 (2022)
Druh dokumentu:	article
ISSN:	2227-7390
DOI:	10.3390/math10071051
Popis:	Due to the complexity of manipulator robots, the trajectory tracking task is very challenging. Most of the current algorithms depend on the robot structure or its number of degrees of freedom (DOF). Furthermore, the most popular methods use a Jacobian matrix that suffers from singularities. In this work, the authors propose a general method to solve the trajectory tracking of robot manipulators using metaheuristic optimization methods. The proposed method can be used to find the best joint configuration to minimize the end-effector position and orientation in 3D, for robots with any number of DOF.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/2f6d3e0b414f485ea532d643c76918db Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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