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

Machmudah, Affiani and Parman, Setyamartana and Abbasi, Aijaz and Solihin, Mahmud Iwan and Abd Manan, Teh Sabariah and Beddu, Salmia and Ahmad, Amiruddin and Wan Rasdi, Nadiah (2021) Cyclic Path Planning Of Hyper-Redundant Manipulator Using Whale Optimization Algorithm. International Journal Of Advanced Computer Science And Applications, 12 (8). pp. 677-686. ISSN 2156-5570

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Abstract

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 hyperredundant manipulator is achieved

Item Type:	Article
Uncontrolled Keywords:	Hyper-Redundant, Path Planning, Whale Optimization Algorithm, Sustainable Manufacturing
Divisions:	Faculty of Mechanical and Manufacturing Engineering Technology > Mechanical Engineering Technology
Depositing User:	Norfaradilla Idayu Ab. Ghafar
Date Deposited:	05 May 2022 11:13
Last Modified:	05 May 2022 11:13
URI:	http://eprints.utem.edu.my/id/eprint/25747
Statistic Details:	View Download Statistic

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