Inverse Kinematic Analysis of Bionic Hands Based on Fish Swarm Algorithm

Abstract

To simplify the solving process of the inverse kinematics problem of a bionic hand, a method of solving the inverse kinematics problem based on an artificial fish swarm algorithm was proposed in this paper. First, the kinematic equations of the bionic hand were established using the Denavit-Hartenberg (D-H) parameters. By selecting the appropriate decision variables and objective functions, an optimization model was established for solving the inverse kinematics problem of the bionic hand. Then, the artificial fish swarm algorithm was used to search the solution space to find the inverse solution of the position of the bionic hand. The results show that the artificial fish swarm algorithm has good convergence performance in solving the kinematic problem of the bionic hand. Besides, the accuracy of the artificial fish swarm algorithm can be improved by adjusting parameters such as the initial number of fish swarms, visual field, crowding degree, and step size.