Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators
The inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and complexly coupled. To address this challenge, the b...
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MDPI AG
2024-10-01
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| author | Guojun Zhao Bo Tao Du Jiang Juntong Yun Hanwen Fan |
| author_facet | Guojun Zhao Bo Tao Du Jiang Juntong Yun Hanwen Fan |
| author_sort | Guojun Zhao |
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| description | The inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and complexly coupled. To address this challenge, the bald eagle search optimization algorithm is introduced. This algorithm combines the advantages of evolutionary and swarm techniques, making it more effective at solving nonlinear problems and improving search efficiency. Due to the tendency of the algorithm to fall into local optima, the Lévy flight strategy is introduced to enhance its performance. This strategy adopts a heavy-tailed distribution to generate long-distance jumps, thereby preventing the algorithm from becoming trapped in local optima and enhancing its global search efficiency. The experiments first evaluated the accuracy and robustness of the proposed algorithm based on the inverse kinematics problem of manipulators, achieving a solution accuracy of up to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>10</mn><mrow><mo>−</mo><mn>18</mn></mrow></msup></semantics></math></inline-formula> m. Subsequently, the proposed algorithm was compared with other algorithms using the CEC2017 test functions. The results showed that the improved algorithm significantly outperformed the original in accuracy, convergence speed, and stability. Specifically, it achieved over 70% improvement in both standard deviation and mean for several test functions, demonstrating the effectiveness of the Lévy flight strategy in enhancing global search capabilities. Furthermore, the practicality of the proposed algorithm was verified through two real engineering optimization problems. |
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| language | English |
| publishDate | 2024-10-01 |
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| spelling | doaj-art-98ec18d4cb2d4549bfd23b7fad7eee4d2025-08-20T02:11:14ZengMDPI AGBiomimetics2313-76732024-10-0191062710.3390/biomimetics9100627Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic ManipulatorsGuojun Zhao0Bo Tao1Du Jiang2Juntong Yun3Hanwen Fan4Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaPrecision Manufacturing Research Institute, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaKey Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, ChinaThe inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and complexly coupled. To address this challenge, the bald eagle search optimization algorithm is introduced. This algorithm combines the advantages of evolutionary and swarm techniques, making it more effective at solving nonlinear problems and improving search efficiency. Due to the tendency of the algorithm to fall into local optima, the Lévy flight strategy is introduced to enhance its performance. This strategy adopts a heavy-tailed distribution to generate long-distance jumps, thereby preventing the algorithm from becoming trapped in local optima and enhancing its global search efficiency. The experiments first evaluated the accuracy and robustness of the proposed algorithm based on the inverse kinematics problem of manipulators, achieving a solution accuracy of up to <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><msup><mn>10</mn><mrow><mo>−</mo><mn>18</mn></mrow></msup></semantics></math></inline-formula> m. Subsequently, the proposed algorithm was compared with other algorithms using the CEC2017 test functions. The results showed that the improved algorithm significantly outperformed the original in accuracy, convergence speed, and stability. Specifically, it achieved over 70% improvement in both standard deviation and mean for several test functions, demonstrating the effectiveness of the Lévy flight strategy in enhancing global search capabilities. Furthermore, the practicality of the proposed algorithm was verified through two real engineering optimization problems.https://www.mdpi.com/2313-7673/9/10/627inverse kinematicsrobotic manipulatorsbald eagle search optimization algorithmLévy flight strategyengineering optimization problem |
| spellingShingle | Guojun Zhao Bo Tao Du Jiang Juntong Yun Hanwen Fan Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators Biomimetics inverse kinematics robotic manipulators bald eagle search optimization algorithm Lévy flight strategy engineering optimization problem |
| title | Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators |
| title_full | Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators |
| title_fullStr | Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators |
| title_full_unstemmed | Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators |
| title_short | Improved Bald Eagle Search Optimization Algorithm for the Inverse Kinematics of Robotic Manipulators |
| title_sort | improved bald eagle search optimization algorithm for the inverse kinematics of robotic manipulators |
| topic | inverse kinematics robotic manipulators bald eagle search optimization algorithm Lévy flight strategy engineering optimization problem |
| url | https://www.mdpi.com/2313-7673/9/10/627 |
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