Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm

• Main Authors: Machmudah, Affiani, Parman, Setyamartana, Abbasi, Aijaz, Solihin, Mahmud Iwan, Abd Manan, Teh Sabariah, Beddu, Salmia, Ahmad, Amiruddin, Wan Rasdi, Nadiah
• Format: Article
• Language: English
• Published: Science and Information Organization 2021
• Online Access: http://eprints.utem.edu.my/id/eprint/25747/2/PAPER_79-CYCLIC_PATH_PLANNING_OF_HYPER_REDUNDANT_MANIPULATOR.PDF; http://eprints.utem.edu.my/id/eprint/25747/; https://thesai.org/Downloads/Volume12No8/Paper_79-Cyclic_Path_Planning_of_Hyper_redundant_Manipulator.pdf

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...