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: Article査読

1 被引用数 (Scopus)

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月

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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