Gravitation Search based Hybrid Algorithm for solving Inverse Kinematics of an n-link Redundant Manipulator

IF 4.8 2区工程技术 Q1 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS

Journal of Computational Design and Engineering Pub Date : 2023-09-28 DOI:10.1093/jcde/qwad087

S A R Sheik Masthan, G Kanagaraj, F Yu Vincent

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Abstract

Abstract Inverse kinematics is one of the most complicated problems in robotics. The inverse kinematics calculation is the basis for any industrial robot's ability to plan and follow a trajectory. This paper proposes a hybrid algorithm, e3GSA, based on the Gravitational Search Algorithm for solving the inverse kinematics problem of an n-link redundant robot manipulator. The algorithm's efficiency was evaluated using a fitness function comprising of position error, orientation error, and collision error, and it was found to perform better than the conventional GSA algorithm in simulations. A generalised framework was proposed and tested by simulating a 6-link, 8-link and 12-link robot manipulators. Experimental validation is carried out using a 6-link robot manipulator, which shows that the simulation data are on par with the experimental data. The proposed algorithm was also found to perform adaptively with faster convergence rates and lesser computation time, making it a better choice for other engineering problems that can be transformed into optimization problems.

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基于引力搜索的n连杆冗余机械臂逆运动学混合求解算法

逆运动学是机器人技术中最复杂的问题之一。逆运动学计算是任何工业机器人规划和跟踪轨迹能力的基础。本文提出了一种基于引力搜索算法的混合算法e3GSA，用于求解n连杆冗余机器人机械手的运动学逆问题。利用位置误差、方向误差和碰撞误差组成的适应度函数对算法的效率进行了评价，仿真结果表明，该算法优于传统的GSA算法。提出了一种广义框架，并通过对6杆、8杆和12杆机器人机械手的仿真进行了验证。利用六连杆机械手进行了实验验证，仿真数据与实验数据基本一致。该算法具有较快的收敛速度和较短的计算时间，是其他工程问题转化为优化问题的较好选择。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Computational Design and Engineering Computer Science-Human-Computer Interaction

CiteScore

7.70

自引率

20.40%

发文量

125

期刊介绍： Journal of Computational Design and Engineering is an international journal that aims to provide academia and industry with a venue for rapid publication of research papers reporting innovative computational methods and applications to achieve a major breakthrough, practical improvements, and bold new research directions within a wide range of design and engineering: • Theory and its progress in computational advancement for design and engineering • Development of computational framework to support large scale design and engineering • Interaction issues among human, designed artifacts, and systems • Knowledge-intensive technologies for intelligent and sustainable systems • Emerging technology and convergence of technology fields presented with convincing design examples • Educational issues for academia, practitioners, and future generation • Proposal on new research directions as well as survey and retrospectives on mature field.