TY - JOUR
ID - 169030
TI - Enhanced Solution of Inverse Kinematics for Redundant Robot Manipulator Using PSO
JO - Engineering and Technology Journal
JA - ETJ
LA - en
SN - 1681-6900
AU - Khaleel, Hind Z.
AD - Control and Systems Engineering Department, University of Technology - Iraq
Y1 - 2019
PY - 2019
VL - 37
IS - 7A
SP - 241
EP - 247
KW - Three-link
KW - Inverse Kinematics
KW - PSO
DO - 10.30684/etj.37.7A.4
N2 - Kinematics of the robot is divided into two parts: the forwardkinematics, which evaluates the end-effector’s position from joint angles, and theinverse kinematics, which demonstrates the joint angles from the end-effector'sposition. The solution of the inverse kinematics problem is too difficult andcomplicated for the redundant robot arm manipulator. A Particle SwarmOptimization (PSO) algorithm is an effective method to solve global optimizationproblems. This paper presents the solution of inverse kinematics problem of athree-link redundant manipulator robot arm using PSO without using the inversekinematics equations. The circle, square and triangle generated trajectories usingPSO are enhanced as compared with the trajectories of other works. Theenhanced PSO algorithm is successfully found the best generating three jointangles and the best generating end-effector's position of a three-link robot arm.Then according to these joints and positions the circle, square and triangle pathtrajectories, results are smoother than the path trajectories of other work. Thisenhanced solution of inverse kinematics using PSO algorithm is too fast due tothe short elapsed time in every iteration of trajectory. Besides that, thesevelocities results have been given evaluated and give an indication that the threelink robot is moving fast during the PSO algorithm. The elapsed time of circletrajectory equals to 20.903981 seconds, the elapsed time of square trajectoryequals to 11.747171 seconds and the elapsed time of triangle trajectory equals to15.729663 seconds. MATLAB R2015b program is used in order to simulate allresults. The main benefit of this work is to solve two problems: 1) inversekinematics is too complex equations of the three-link robot. The solutions of bestjoint angles using PSO are computed within joint limits without using inversekinematics equations. 2) Another problem, this work is enhanced threetrajectories with respect to the best joint angles and reaches 96% percent ascompared with another work. The error is too small according to the start andgoal PSO generated points for each trajectory.
UR - https://etj.uotechnology.edu.iq/article_169030.html
L1 - https://etj.uotechnology.edu.iq/article_169030_503e844821fea6f8c9e015f4d3772b9a.pdf
ER -