DE-based Algorithm for Solving the Inverse Kinematics on a Robotic Arm Manipulators

B=ui Tam, T. A.O. Linh, Trung Nguyen, Tinh Nguyen, Hiroshi Hasegawa, Dai Watanabe

研究成果査読

抄録

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.

本文言語English
論文番号012008
ジャーナルJournal of Physics: Conference Series
1922
1
DOI
出版ステータスPublished - 2021 5 26
イベント2021 5th International Conference on Robotics and Machine Vision, ICRMV 2021 - Seoul, Virtual, Korea, Republic of
継続期間: 2021 2 262021 2 28

ASJC Scopus subject areas

  • 物理学および天文学(全般)

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