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A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators

Author

Listed:
  • Carlos Lopez-Franco

    (Computer Sciences Department, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Dario Diaz

    (Computer Sciences Department, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Jesus Hernandez-Barragan

    (Computer Sciences Department, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Nancy Arana-Daniel

    (Computer Sciences Department, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Michel Lopez-Franco

    (Computer Sciences Department, Universidad de Guadalajara, Guadalajara 44430, Mexico)

Abstract

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.

Suggested Citation

  • Carlos Lopez-Franco & Dario Diaz & Jesus Hernandez-Barragan & Nancy Arana-Daniel & Michel Lopez-Franco, 2022. "A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators," Mathematics, MDPI, vol. 10(7), pages 1-23, March.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:7:p:1051-:d:779222
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    References listed on IDEAS

    as
    1. Bingyan Mao & Zhijiang Xie & Yongbo Wang & Heikki Handroos & Huapeng Wu, 2018. "A Hybrid Strategy of Differential Evolution and Modified Particle Swarm Optimization for Numerical Solution of a Parallel Manipulator," Mathematical Problems in Engineering, Hindawi, vol. 2018, pages 1-9, February.
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    Cited by:

    1. Jin Zhang & Wenjun Meng & Yufeng Yin & Zhengnan Li & Lidong Ma & Weiqiang Liang, 2022. "High-Order Sliding Mode Control for Three-Joint Rigid Manipulators Based on an Improved Particle Swarm Optimization Neural Network," Mathematics, MDPI, vol. 10(19), pages 1-22, September.
    2. Jesus Hernandez-Barragan & Gabriel Martinez-Soltero & Jorge D. Rios & Carlos Lopez-Franco & Alma Y. Alanis, 2022. "A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots," Mathematics, MDPI, vol. 10(21), pages 1-23, November.
    3. Isiah Zaplana & Hugo Hadfield & Joan Lasenby, 2022. "Singularities of Serial Robots: Identification and Distance Computation Using Geometric Algebra," Mathematics, MDPI, vol. 10(12), pages 1-27, June.
    4. Alma Y. Alanis, 2022. "Bioinspired Intelligent Algorithms for Optimization, Modeling and Control: Theory and Applications," Mathematics, MDPI, vol. 10(13), pages 1-2, July.

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