Abstract

Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used not only for individual poses but for trajectory planning.

Highlights

  • The inverse kinematics (IK) problem is one of the most studied topics in robotics research

  • [8] utilized the firefly algorithm to solve for the position of a seven degrees of freedom (DOF) robot, which had better performance in terms of error but not execution time. [9], developed an adaptive particle swarm optimization (PSO) algorithm that adapts the acceleration and inertia parameters to avoid getting stuck in a local optimum

  • Javier Alexis Abdor-Sierra, et al - Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quarternion representation highly redundant robot reach the desired position with any orientation is not feasible and does not utilize its full potential

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Summary

QUATERNION REPRESENTATION

Javier Alexis Abdor-Sierra1*, Emmanuel Alejandro Merchán-Cruz, Flavio Arturo Sánchez-Garfias, Ricardo Gustavo Rodríguez-Cañizo, Edgar Alfredo Portilla-Flores, Valentin Vázquez-Castillo. One can find several proposed solutions using heuristic techniques; for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. A metaheuristic approach is presented to solve the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot’s poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used for individual poses but for trajectory planning

INTRODUCTION
KINEMATICS ANALYSIS
PARTICLE SWARM OPTIMIZATION
OPTIMIZATION APPROACH
PSO implementation for solving the inverse kinematics
SIMULATION AND RESULTS
Standard Deviation
Best Worst Average Standard Deviation
Full Text
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