A novel method for determining the spatial position of a mechanical arm based on intelligent optimization algorithm

Abstract

The mechanical arm is a very complex system. It is difficult to determine its initial position and motion trail due to uncertainty perturbation of parameters and external disturbance. In this paper, a novel method of determining the initial position and position change of the mechanical arm in space is proposed by using just the movement of the mechanical arm such as coordinate value changes in Cartesian coordinate system and value changes in Spherical coordinate system, which is different from other method given in previous literature. The initial position of the mechanical arm is determined by constructing an optimization objective function and then calculating the coordinates of initial position by using the intelligent optimization algorithm. Based on this, the angle to be rotated and the amount of the scope for the mechanical arm to expansion/contraction is evaluated when its spatial position changes by using the relationship between the Cartesian coordinate system and the Spherical coordinate system. This method has good compatibility, fast calculation speed and high precision, and can fully meet the requirements of industrial engineering.