CrossRef Open Access 2022 17 sitasi

A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators

Carlos Lopez-Franco Dario Diaz Jesus Hernandez-Barragan Nancy Arana-Daniel Michel Lopez-Franco

Abstrak

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.

Penulis (5)

Carlos Lopez-Franco

Dario Diaz

Jesus Hernandez-Barragan

Nancy Arana-Daniel

Michel Lopez-Franco

Format Sitasi

APA MLA BibTeX

Lopez-Franco, C., Diaz, D., Hernandez-Barragan, J., Arana-Daniel, N., Lopez-Franco, M. (2022). A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators. https://doi.org/10.3390/math10071051

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Informasi Jurnal

Tahun Terbit: 2022
Bahasa: en
Total Sitasi: 17×
Sumber Database: CrossRef
DOI: 10.3390/math10071051
Akses: Open Access ✓