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

研究成果査読

抄録

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

本文言語English
ページ(範囲)498-504
ページ数7
ジャーナルInternational Journal of Mechanical Engineering and Robotics Research
10
9
DOI
出版ステータスPublished - 2021 9

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 機械工学
  • 人工知能

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