Abstract
Metaheuristics are incapable of analyzing robot problems without being enhanced, modified, or hybridized. Enhanced metaheuristics reported in other works of literature are problem-specific and often not suitable for analyzing other robot configurations. The parameters of standard particle swarm optimization (SPSO) were shown to be incapable of resolving robot optimization problems. A novel algorithm for robot kinematic analysis with enhanced parameters is hereby presented. The algorithm is capable of analyzing all the known robot configurations. This was achieved by studying the convergence behavior of PSO under various robot configurations, with a view of determining new PSO parameters for robot analysis and a suitable adaptive technique for parameter identification. Most of the parameters tested stagnated in the vicinity of strong local minimizers. A few parameters escaped stagnation but were incapable of finding the global minimum solution, this is undesirable because accuracy is an important criterion for robot analysis and control. The algorithm was trained to identify stagnating solutions. The algorithm proposed herein was found to compete favorably with other algorithms reported in the literature. There is a great potential of further expanding the findings herein for dynamic parameter identification.
Highlights
The quest for developing improved techniques for parameter identification of industrial robots has resulted in the novel concept of a mutating particle swarm optimization (MuPSO) based algorithm for analyzing multi-degree of freedom robot manipulators which was briefly introduced in [1], the research sought to employ artificial intelligence, population-based Evolutionary Algorithms (EA), and computational methods for solving kinematic and dynamic problems of industrial manipulators
To the best of our knowledge, there has not been any research tailored at determining the best range of PSO parameters to develop an algorithm for robot analysis, this work aims to develop a new PSO variant capable of analyzing all robot configurations and least likely to fall into stagnation
Under 3DOF Articulate robot configuration, PSO5 has the best solution for the particular robot manipulator followed by PSO6, PSO10 has the third-best solution, etc
Summary
A robot manipulator is an electro-mechanical device that depicts the upper human limb. It was originally used in industrial workspaces to carry out tasks that were deemed boring, repetitive, highly monotonous, or dangerous, and not suitable for human labor. Recent applications of robot manipulators include aeronautics and medicine, where the tolerance is very tight and human errors could be fatal. The kinematic problems of robot manipulators were traditionally computed using analytical techniques which sometimes required finding the derivative of computationally expensive functions. These problems were found to sometimes possess multiple solutions or even no solution at all. Swarm-based techniques have been studied which promises improved computational efficiency
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
