{"title":"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","authors":"S A R Sheik Masthan, G Kanagaraj, F Yu Vincent","doi":"10.1093/jcde/qwad087","DOIUrl":null,"url":null,"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.","PeriodicalId":48611,"journal":{"name":"Journal of Computational Design and Engineering","volume":null,"pages":null},"PeriodicalIF":4.8000,"publicationDate":"2023-09-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Gravitation Search based Hybrid Algorithm for solving Inverse Kinematics of an <i>n</i>-link Redundant Manipulator\",\"authors\":\"S A R Sheik Masthan, G Kanagaraj, F Yu Vincent\",\"doi\":\"10.1093/jcde/qwad087\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":48611,\"journal\":{\"name\":\"Journal of Computational Design and Engineering\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":4.8000,\"publicationDate\":\"2023-09-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Computational Design and Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1093/jcde/qwad087\",\"RegionNum\":2,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Computational Design and Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1093/jcde/qwad087","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS","Score":null,"Total":0}
Gravitation Search based Hybrid Algorithm for solving Inverse Kinematics of an n-link Redundant Manipulator
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.
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.