Inverse kinematics application on medical robot using adapted PSO method

Abstract

In this study, an adapted Particle Swarm Optimization (PSO) algorithm is proposed for the inverse kinematic solution of the robot that is designed for reduction in fracture treatment with external fixator and it is applied to this robot, which has six degrees of freedom. In the classic PSO algorithm, all of the particles are directed to the searched target. Until the specified criterion is reached, all particles have a value for each step from the beginning until the reached point and these values are updated taking into account the previous. Therefore, sometimes particles can jam locally if the number set in the solution is too high.In proposed method, if the criterion is not complied with at the end of a certain number of steps PSO algorithm is stopped and the final point that is reached is assumed as the new beginning point and the process is repeated through repositioning until the criterion is complied with. This proposed method has been tested on a robot with 3 linear and 3 rotation axes and much better results have been obtained in comparison with classical PSO.