Inverse Kinematics of Multi-joint Robot Based on Particle Swarm Optimization Algorithm
Ze Fan Cai 1, 2, Dao Ping Huang 2, and Yi Qi Liu 2
1. Electronics and Information Engineering Department of Shunde Polytechnic, Foshan, China
2. Automation College of South China University of Technology, Guangzhou, China
2. Automation College of South China University of Technology, Guangzhou, China
Abstract—The optimization of the inverse kinematics of robot is the most important part of robot kinematics. Parameters for each link of the robot are needed to be identified according to the position and orientation in both of teaching programming and interpolation. In view of the fact that to get the analytic solutions of the inverse kinematics of robots must meet special conditions, this paper used a general solution, simulated annealing particle swarm optimization algorithm, to obtain the optimization of inverse kinematics without any special conditions. Simulation results show that the algorithm can be effectively applied to the robot inverse kinematics and is able to achieve sufficient accuracy.
Index Terms—particle swarm optimization algorithm, simulated annealing algorithm, multi-joint robot, inverse kinematics, optimization
Cite: Ze Fan Cai, Dao Ping Huang, and Yi Qi Liu, "Inverse Kinematics of Multi-joint Robot Based on Particle Swarm Optimization Algorithm," Jounal of Automation and Control Engineering, Vol. 4, No. 4, pp. 305-308, August, 2016. doi: 10.18178/joace.4.4.305-308
Index Terms—particle swarm optimization algorithm, simulated annealing algorithm, multi-joint robot, inverse kinematics, optimization
Cite: Ze Fan Cai, Dao Ping Huang, and Yi Qi Liu, "Inverse Kinematics of Multi-joint Robot Based on Particle Swarm Optimization Algorithm," Jounal of Automation and Control Engineering, Vol. 4, No. 4, pp. 305-308, August, 2016. doi: 10.18178/joace.4.4.305-308