TY - JOUR
T1 - DE-based Algorithm for Solving the Inverse Kinematics on a Robotic Arm Manipulators
AU - Tam, B=ui
AU - Linh, T. A.O.
AU - Nguyen, Trung
AU - Nguyen, Tinh
AU - Hasegawa, Hiroshi
AU - Watanabe, Dai
N1 - Funding Information:
This research is funded Project for Research Grant (Linked with KAKENHI) under the Grant no: 720MB55858.
Publisher Copyright:
© Published under licence by IOP Publishing Ltd.
PY - 2021/5/26
Y1 - 2021/5/26
N2 - DE algorithm method for Solving the inverse kinematics is a fundamental problem in the robotics field especially in controlling industrial robots to move following a pre-defined trajectory. In this paper, we proposed to use a meta-heuristic optimization algorithm, namely Differential Evolution (DE), to solve the Inverse Kinematic (IK) problem for a five-degree-of-freedom (DOF) articulated robot. By considering joints' angles as continuous variables, the process of solving the Inverse Kinematic problem for the robot with the optimal algorithm has been significantly improved in terms of accuracy, execution time, standard deviation (STD) and the number of iterations needed as well. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The simulation results for three case studies showed that our method can solve the inverse kinematics problem efficiently not only for minimum errors but also for smooth value of the joints' variables.
AB - DE algorithm method for Solving the inverse kinematics is a fundamental problem in the robotics field especially in controlling industrial robots to move following a pre-defined trajectory. In this paper, we proposed to use a meta-heuristic optimization algorithm, namely Differential Evolution (DE), to solve the Inverse Kinematic (IK) problem for a five-degree-of-freedom (DOF) articulated robot. By considering joints' angles as continuous variables, the process of solving the Inverse Kinematic problem for the robot with the optimal algorithm has been significantly improved in terms of accuracy, execution time, standard deviation (STD) and the number of iterations needed as well. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The simulation results for three case studies showed that our method can solve the inverse kinematics problem efficiently not only for minimum errors but also for smooth value of the joints' variables.
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U2 - 10.1088/1742-6596/1922/1/012008
DO - 10.1088/1742-6596/1922/1/012008
M3 - Conference article
AN - SCOPUS:85107426958
SN - 1742-6588
VL - 1922
JO - Journal of Physics: Conference Series
JF - Journal of Physics: Conference Series
IS - 1
M1 - 012008
T2 - 2021 5th International Conference on Robotics and Machine Vision, ICRMV 2021
Y2 - 26 February 2021 through 28 February 2021
ER -