TY - GEN
T1 - Apply PSO Algorithm with Searching Space Improvements on a 5 Degrees of Freedom Robot
AU - Nguyen, Thanh Trung
AU - Tao, Ngoc Linh
AU - Nguyen, Van Tinh
AU - Bui, Ngoc Tam
AU - Nguyen, V. H.
AU - Watanabe, Dai
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/8
Y1 - 2020/8
N2 - In this research, Particle Swarm Optimization (PSO) algorithm has been applied to solve the Inverse Kinematic (IK) problem for redundant serial manipulator robots. The new point of the study is to consider the continuity of the joints' variable. By noting this problem, the process of solving the Inverse Kinematic problem for the robots by the optimal algorithm has been significantly improved in terms of accuracy, execution time, and standard deviation (STD) as well as the number of iterations needed. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The results show that just using the PSO algorithm with the above search domain limit has improved the quality of IK process.
AB - In this research, Particle Swarm Optimization (PSO) algorithm has been applied to solve the Inverse Kinematic (IK) problem for redundant serial manipulator robots. The new point of the study is to consider the continuity of the joints' variable. By noting this problem, the process of solving the Inverse Kinematic problem for the robots by the optimal algorithm has been significantly improved in terms of accuracy, execution time, and standard deviation (STD) as well as the number of iterations needed. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The results show that just using the PSO algorithm with the above search domain limit has improved the quality of IK process.
KW - Degree of Freedom (DOF)
KW - Inverse Kinematic (IK)
KW - Particle Swarm Optimization (PSO)
KW - redundant robot
UR - http://www.scopus.com/inward/record.url?scp=85093085969&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85093085969&partnerID=8YFLogxK
U2 - 10.1109/IRCE50905.2020.9199236
DO - 10.1109/IRCE50905.2020.9199236
M3 - Conference contribution
AN - SCOPUS:85093085969
T3 - IRCE 2020 - 2020 3rd International Conference on Intelligent Robotics and Control Engineering
SP - 75
EP - 80
BT - IRCE 2020 - 2020 3rd International Conference on Intelligent Robotics and Control Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd International Conference on Intelligent Robotics and Control Engineering, IRCE 2020
Y2 - 10 August 2020 through 12 August 2020
ER -