Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm
Taking the minimizing pose error of the end-effector as the objective function， the inverse kinematics problem of redundant manipulator is transformed into an equivalent optimization problem. An improved particle swarm optimization algorithm is proposed to solve this optimization problem. The algori...
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Editorial Office of Journal of Mechanical Transmission
2021-02-01
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| Series: | Jixie chuandong |
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| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.011 |
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| author | Jianping Shi Peng Liu Dongyun Chen |
| author_facet | Jianping Shi Peng Liu Dongyun Chen |
| author_sort | Jianping Shi |
| collection | DOAJ |
| description | Taking the minimizing pose error of the end-effector as the objective function， the inverse kinematics problem of redundant manipulator is transformed into an equivalent optimization problem. An improved particle swarm optimization algorithm is proposed to solve this optimization problem. The algorithm is comprehensively improved from the aspects of particle population initialization， inertia weight adjustment strategy， differential mutation operation as well as the boundary violation treatment of searching space. At the same time， a two-stage hybrid coevolution mechanism based on particle swarm evolution and differential mutation evolution is constructed. As a result， the global exploration and the local exploitation of the algorithm are reasonably and effectively balanced， the convergence precision and speed of the algorithm are improved. Taking the inverse kinematics solutions of a planar redundant manipulator and a 7-DOF redundant manipulator as examples， the proposed algorithm and the comparison algorithms are used to solve the inverse kinematics problem. The simulation results show that compared with the comparison algorithm， the proposed algorithm has higher convergence accuracy， faster convergence speed and stronger optimization stability. The proposed algorithm can effectively solve the inverse kinematics problem of redundant manipulator. |
| format | Article |
| id | doaj-art-7ab6848626984f15b0445784945483e8 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2021-02-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-7ab6848626984f15b0445784945483e82025-01-10T14:54:13ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392021-02-0145697529800013Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization AlgorithmJianping ShiPeng LiuDongyun ChenTaking the minimizing pose error of the end-effector as the objective function， the inverse kinematics problem of redundant manipulator is transformed into an equivalent optimization problem. An improved particle swarm optimization algorithm is proposed to solve this optimization problem. The algorithm is comprehensively improved from the aspects of particle population initialization， inertia weight adjustment strategy， differential mutation operation as well as the boundary violation treatment of searching space. At the same time， a two-stage hybrid coevolution mechanism based on particle swarm evolution and differential mutation evolution is constructed. As a result， the global exploration and the local exploitation of the algorithm are reasonably and effectively balanced， the convergence precision and speed of the algorithm are improved. Taking the inverse kinematics solutions of a planar redundant manipulator and a 7-DOF redundant manipulator as examples， the proposed algorithm and the comparison algorithms are used to solve the inverse kinematics problem. The simulation results show that compared with the comparison algorithm， the proposed algorithm has higher convergence accuracy， faster convergence speed and stronger optimization stability. The proposed algorithm can effectively solve the inverse kinematics problem of redundant manipulator.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.011Redundant manipulatorInverse kinematicsParticle swarm optimization algorithmChaosMutation |
| spellingShingle | Jianping Shi Peng Liu Dongyun Chen Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm Jixie chuandong Redundant manipulator Inverse kinematics Particle swarm optimization algorithm Chaos Mutation |
| title | Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm |
| title_full | Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm |
| title_fullStr | Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm |
| title_full_unstemmed | Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm |
| title_short | Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm |
| title_sort | inverse kinematics solution of redundant manipulator based on improved particle swarm optimization algorithm |
| topic | Redundant manipulator Inverse kinematics Particle swarm optimization algorithm Chaos Mutation |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2021.02.011 |
| work_keys_str_mv | AT jianpingshi inversekinematicssolutionofredundantmanipulatorbasedonimprovedparticleswarmoptimizationalgorithm AT pengliu inversekinematicssolutionofredundantmanipulatorbasedonimprovedparticleswarmoptimizationalgorithm AT dongyunchen inversekinematicssolutionofredundantmanipulatorbasedonimprovedparticleswarmoptimizationalgorithm |