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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*
Affiliation:
Electrical Department, NIT Kurukshetra, Haryana, India E-mail: [email protected]
Jyoti Ohri
Affiliation:
Electrical Department, NIT Kurukshetra, Haryana, India E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]

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.

Type
Articles
Copyright
Copyright © The Author(s), 2020. Published by Cambridge University Press

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Choubey and Ohri supplementary material

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