**Author details**

Chandan Choubey<sup>1</sup> \* and Jyoti Ohri2

1 Department of Electronics and Communication Engineering, Dronacharya Group of Institutions, Greater Noida, India

2 Department of Electrical Engineering, National Institute of Technology, Kurukshetra, India

\*Address all correspondence to: er.choubey.chandan@gmail.com

© 2021 The Author(s). Licensee IntechOpen. This chapter is distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/ by/3.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

methods. The below simulated results shows smooth motion with optimal velocity

i. The maximum average velocity of the proposed GWO based OTG is

ii. The acceleration maximum average value of the proposed GWO based OTG is observed that 4.03 times and 3.92 times lesser than GA based OTG

observed 1.75 times lesser than GA based OTG and 1.01 times greater than

at each joints of the robotic arm (manipulator).

non-optimize method.

*Collaborative and Humanoid Robots*

**Figure 6.**

**68**

and non-optimize method.

Comparison results can be summarized as follows:

*Comparison plot for time segment vs. jerk for proposed and existing method.*
