The Science and Information (SAI) Organization
  • Home
  • About Us
  • Journals
  • Conferences
  • Contact Us

Publication Links

  • IJACSA
  • Author Guidelines
  • Publication Policies
  • Metadata Harvesting (OAI2)
  • Digital Archiving Policy

IJACSA

  • About the Journal
  • Call for Papers
  • Author Guidelines
  • Fees/ APC
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Apply as a Reviewer

IJARAI

  • About the Journal
  • Archives
  • Indexing & Archiving

Special Issues

  • Home
  • Archives
  • Call for Papers
  • Proposals
  • Guest Editors

Computing Conference

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Intelligent Systems Conference (IntelliSys)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Future Technologies Conference (FTC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact

Future of Information and Communication Conference (FICC)

  • Home
  • Call for Papers
  • Submit your Paper/Poster
  • Register
  • Venue
  • Contact
  • Home
  • Call for Papers
  • Guidelines
  • Fees
  • Submit your Paper
  • Current Issue
  • Archives
  • Indexing
  • Editors
  • Reviewers
  • Subscribe

Article Details

Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.

Cyclic Path Planning of Hyper-redundant Manipulator using Whale Optimization Algorithm

Author 1: Affiani Machmudah
Author 2: Setyamartana Parman
Author 3: Aijaz Abbasi
Author 4: Mahmud Iwan Solihin
Author 5: Teh Sabariah Abd Manan
Author 6: Salmia Beddu
Author 7: Amiruddin Ahmad
Author 8: Nadiah Wan Rasdi

Download PDF

Digital Object Identifier (DOI) : 10.14569/IJACSA.2021.0120879

Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 12 Issue 8, 2021.

  • Abstract and Keywords
  • How to Cite this Article
  • {} BibTeX Source

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 hyper-redundant manipulator is achieved.

Keywords: Hyper-redundant; path planning; whale optimization algorithm; sustainable manufacturing

Affiani Machmudah, Setyamartana Parman, Aijaz Abbasi, Mahmud Iwan Solihin, Teh Sabariah Abd Manan, Salmia Beddu, Amiruddin Ahmad and Nadiah Wan Rasdi, “Cyclic Path Planning of Hyper-redundant Manipulator using Whale Optimization Algorithm” International Journal of Advanced Computer Science and Applications(IJACSA), 12(8), 2021. http://dx.doi.org/10.14569/IJACSA.2021.0120879

@article{Machmudah2021,
title = {Cyclic Path Planning of Hyper-redundant Manipulator using Whale Optimization Algorithm},
journal = {International Journal of Advanced Computer Science and Applications},
doi = {10.14569/IJACSA.2021.0120879},
url = {http://dx.doi.org/10.14569/IJACSA.2021.0120879},
year = {2021},
publisher = {The Science and Information Organization},
volume = {12},
number = {8},
author = {Affiani Machmudah and Setyamartana Parman and Aijaz Abbasi and Mahmud Iwan Solihin and Teh Sabariah Abd Manan and Salmia Beddu and Amiruddin Ahmad and Nadiah Wan Rasdi}
}


IJACSA

Upcoming Conferences

Future of Information and Communication Conference (FICC) 2023

2-3 March 2023

  • Hybrid | San Francisco

Computing Conference 2023

13-14 July 2023

  • Hybrid | London, UK

IntelliSys 2022

1-2 September 2022

  • Hybrid / Amsterdam

Future Technologies Conference (FTC) 2022

20-21 October 2022

  • Hybrid / Vancouver
The Science and Information (SAI) Organization
BACK TO TOP

Computer Science Journal

  • About the Journal
  • Call for Papers
  • Submit Paper
  • Indexing

Our Conferences

  • Computing Conference
  • Intelligent Systems Conference
  • Future Technologies Conference
  • Communication Conference

Help & Support

  • Contact Us
  • About Us
  • Terms and Conditions
  • Privacy Policy

© The Science and Information (SAI) Organization Limited. Registered in England and Wales. Company Number 8933205. All rights reserved. thesai.org