Apply Some Meta-Heuristic Algorithms to Solve Inverse Kinematic Problems of a 7-DoFs Manipulator Robot

Trung T. Nguyen, Tam N. Bui, Watanabe Dai, Tinh V. Nguyen, Linh N. Tao

Research output: Contribution to journalArticlepeer-review

Abstract

Abstract—In this research, Particle Swarm Optimization (PSO), Differential Evolution (DE) Algorithm and Searching Space improving DE & PSO Algorithm will be used for inverse kinematic solution of a 7-degree-of-freedom (DOF) serial manipulator. Firstly, the DH parameters of the robot manipulator are created, and transformation matrices are revealed. Afterward, the position equations are derived from these matrices. The end-effector position in the working space of the robotic manipulator is estimated using optimization algorithms. These algorithms were tested with two different end-effector motion scenarios. The first scenario uses 100 randomly selected points in the working space. The second scenario uses a spline trajectory including 100 points in the working space as well. According to the results, DE Algorithms has performed much more efficient than standard PSO Algorithms. The DE & PSO Algorithm using Searching Space Improvements can be used to optimize robots control easily

Original languageEnglish
Pages (from-to)498-504
Number of pages7
JournalInternational Journal of Mechanical Engineering and Robotics Research
Volume10
Issue number9
DOIs
Publication statusPublished - 2021 Sep

Keywords

  • Differential Evolution (DE)
  • Inverse Kinematic (IK) and Degree of Freedom (DOF)
  • Particle Swarm Optimization (PSO)

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering
  • Artificial Intelligence

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