Optimization of analytical inverse kinematic solution for redundant manipulators using GA-PSO algorithm

Abstract

Redundant manipulators are becoming widely used in many fields. However, it is difficult to compute the analytical inverse kinematic solution and get the optimal one from infinite number of solutions. This paper uses the joint parameterization technique to derive the analytical inverse kinematic solution of a seven degrees of freedom(7-DOF) manipulator. Then GA-PSO algorithm is introduced to get the optimal solution that can avoid the joint limits. The proposed method can be applied to any type of redundant manipulators and can get the optimal solution for different demands. Full algorithm and procedure has been given in this paper. The simulation results show that the proposed algorithm is available and low computation cost.