TY - JOUR
T1 - Apply Some Meta-Heuristic Algorithms to Solve Inverse Kinematic Problems of a 7-DoFs Manipulator Robot
AU - Nguyen, Trung T.
AU - Bui, Tam N.
AU - Dai, Watanabe
AU - Nguyen, Tinh V.
AU - Tao, Linh N.
N1 - Publisher Copyright:
© 2021 Int. J. Mech. Eng. Rob. Res
PY - 2021/9
Y1 - 2021/9
N2 - 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
AB - 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
KW - Differential Evolution (DE)
KW - Inverse Kinematic (IK) and Degree of Freedom (DOF)
KW - Particle Swarm Optimization (PSO)
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U2 - 10.18178/ijmerr.10.9.498-504
DO - 10.18178/ijmerr.10.9.498-504
M3 - Article
AN - SCOPUS:85112388792
VL - 10
SP - 498
EP - 504
JO - International Journal of Mechanical Engineering and Robotics Research
JF - International Journal of Mechanical Engineering and Robotics Research
SN - 2278-0149
IS - 9
ER -