A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators

Carlos Lopez-Franco, Dario Diaz, Jesus Hernandez-Barragan, Nancy Arana-Daniel and Michel Lopez-Franco
Additional contact information
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

Mathematics, 2022, vol. 10, issue 7, 1-23

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.

Keywords: path tracking; manipulator robot; inverse kinematics; metaheuristic optimization; end-effector pose (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (4)

Downloads: (external link)
https://www.mdpi.com/2227-7390/10/7/1051/pdf (application/pdf)
https://www.mdpi.com/2227-7390/10/7/1051/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jmathe:v:10:y:2022:i:7:p:1051-:d:779222

Access Statistics for this article

Mathematics is currently edited by Ms. Emma He

More articles in Mathematics from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().