Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm
Genetic algorithms; Heuristic algorithms; Industrial manipulators; Redundant manipulators; Robot programming; Angle boundaries; Cyclic property; Hyper redundant; Hyper-redundant manipulator; Local orientations; Metaheuristic optimization; Optimization algorithms; Orientation angles; Sustainable manu...
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2023
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my.uniten.dspace-264792023-05-29T17:11:00Z Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm Machmudah A. Parman S. Abbasi A. Solihin M.I. Manan T.S.A. Beddu S. Ahmad A. Rasdi N.W. 36442829100 6603861052 56193154100 16644075500 57219650719 55812080500 57336779800 56446926400 Genetic algorithms; Heuristic algorithms; Industrial manipulators; Redundant manipulators; Robot programming; Angle boundaries; Cyclic property; Hyper redundant; Hyper-redundant manipulator; Local orientations; Metaheuristic optimization; Optimization algorithms; Orientation angles; Sustainable manufacturing; Whale optimization algorithm; Motion planning This paper develops a path planning algorithm of hyper-redundant manipulators to achieve a cyclic property. The basic idea is based on a geometrical analysis of a 3-link planar series manipulator in which there is an orientation angle boundary of a prescribed path. To achieve the repetitive behavior, for hyper-redundant manipulators consisting of 3-link components, an additional path is chosen in such away so that it is a repetitive curve which has the same curve frequency with the prescribed end-effector path. To solve the redundancy resolution, meta-heuristic optimizations, namely Genetic Algorithm (GA) and Whale Optimization Algorithm (WOA), are applied to search optimal trajectories inside local orientation angle boundaries. Results show that using constant of the local orientation angle trajectories for the 3-link component, the cyclic properties can be achieved. The performance of the WOA shows very promising result where generally it obtains the lowest fitness value as compare with the GA. Depending on the complexity of the path planning, dividing the path into several stages via intermediate points may be necessary to achieve the good posture. The performance of the swarm based meta-heuristic optimization, namely the WOA, shows very promising result where generally it obtains the lowest fitness value as compare with the GA. Using the developed approach, not only the cyclic property is obtained but also the optimal movement of the hyper-redundant manipulator is achieved. � 2021. International Journal of Advanced Computer Science and Applications.All Rights Reserved Final 2023-05-29T09:11:00Z 2023-05-29T09:11:00Z 2021 Article 10.14569/IJACSA.2021.0120879 2-s2.0-85119022554 https://www.scopus.com/inward/record.uri?eid=2-s2.0-85119022554&doi=10.14569%2fIJACSA.2021.0120879&partnerID=40&md5=9e05fe4db155f47744996ef5b13d4789 https://irepository.uniten.edu.my/handle/123456789/26479 12 8 677 686 All Open Access, Gold Science and Information Organization Scopus |
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Genetic algorithms; Heuristic algorithms; Industrial manipulators; Redundant manipulators; Robot programming; Angle boundaries; Cyclic property; Hyper redundant; Hyper-redundant manipulator; Local orientations; Metaheuristic optimization; Optimization algorithms; Orientation angles; Sustainable manufacturing; Whale optimization algorithm; Motion planning |
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36442829100 Machmudah A. Parman S. Abbasi A. Solihin M.I. Manan T.S.A. Beddu S. Ahmad A. Rasdi N.W. |
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Machmudah A. Parman S. Abbasi A. Solihin M.I. Manan T.S.A. Beddu S. Ahmad A. Rasdi N.W. |
| spellingShingle |
Machmudah A. Parman S. Abbasi A. Solihin M.I. Manan T.S.A. Beddu S. Ahmad A. Rasdi N.W. Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
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Machmudah A. |
| title |
Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
| title_short |
Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
| title_full |
Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
| title_fullStr |
Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
| title_full_unstemmed |
Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm |
| title_sort |
cyclic path planning of hyper-redundant manipulator using whale optimization algorithm |
| publisher |
Science and Information Organization |
| publishDate |
2023 |
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1806425980091236352 |
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13.214268 |