The Application of Conjugate Gradient Method to Motion Control of Robotic Manipulators

Ibrahim M. Sulaiman, Maulana Malik, Wed Giyarti, Mustafa Mamat, Mohd Asrul Hery Ibrahim, Muhammad Zaini Ahmad

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Citation (Scopus)


Many industrial and engineering problems are transformed into optimization problems and solved using various numerical based methods. One of the frequently used method is the Steepest descent algorithm which converge to the solution in only one iteration, given the current point and provided the quadratic function is positive definite. However, this method is not suitable for large scale functions because of lack of gradient information and high computational cost. This study aims to suggest a new conjugate gradient algorithm for motion control of robotic manipulators and unconstrained optimization models. The convergence result of the new algorithm would be discussed under some suitable conditions. Computational simulations are carried out on the discrete-time kinematics equation of a two-joint planar robot manipulator to illustrates the efficiency of the algorithm. The algorithm was further extended to unconstrained optimization problems in addition to motion control of robotic manipulators. Preliminary results prove that the new algorithm is efficient compared to the existing CG algorithm. The comparisons are made using the set of 50 standard benchmark functions including number of iterations and CPU time.

Original languageEnglish
Title of host publicationEnabling Industry 4.0 through Advances in Mechatronics - Selected Articles from iM3F 2021
EditorsIsmail Mohd. Khairuddin, Muhammad Amirul Abdullah, Ahmad Fakhri Ab. Nasir, Jessnor Arif Mat Jizat, Mohd. Azraai Mohd. Razman, Ahmad Shahrizan Abdul Ghani, Muhammad Aizzat Zakaria, Wan Hasbullah Mohd. Isa, Anwar P. Abdul Majeed
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages11
ISBN (Print)9789811920943
Publication statusPublished - 2022
EventInnovative Manufacturing, Mechatronics and Materials Forum, iM3F 2021 - Gambang, Malaysia
Duration: 20 Sept 202120 Sept 2021

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


ConferenceInnovative Manufacturing, Mechatronics and Materials Forum, iM3F 2021


  • Convergence analysis
  • Line search techniques
  • Robotic motion control
  • Unconstrained optimization


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