A PSGO-Based Method for Inverse Kinematics Analysis of Serial Dangerous Articles Disposal Manipulator

摘要：

The Particle Swarm Gene Optimization (PSGO) method which is optimized by combining the inverse kinematics equation in the traditional Particle Swarm Optimization (PSO) method is proposed in this paper. By using the kinematic equations directly, PSGO method is capable of solving the optimal solution of joint variables. The inverse kinematics mathematic model of the serial dangerous articles disposal manipulator with multiple degrees of freedom (Multi-DOFs), together with the proposed PSGO-based searching process is developed. The proposed PSGO method is able to reduce the complexity of the analysis of inverse kinematic equations, and the adaptive solution can be obtained. Compared to the traditional PSO algorithm, the proposed PSGO-based method can obtain the logical joint variables in a more computationally efficient manner. The accuracy and efficiency of the proposed method is demonstrated in the case study.

关键词： Particle Swarm Gene Optimization (PSGO) method dangerous articles disposal manipulator inverse kinematics fitness function

作者: Panfeng ZHANG Xihui MU Zhenshu MA Liangliang ZHAO

作者单位: Shijiazhuang Mechanical Engineering College Shijiazhuang, China

会议类型: 国际会议

会议名称: 2011 International Conference on Quality,Reliability,Risk,Maintenance,and Safety Engineering(2011年质量、可靠性、风险、维修性与安全性国际会议暨第二届维修工程国际学术会议 ICQR2MSE 2011)

会议地点: 西安

会议语种:英文

页码: 1048-1051

在线出版日期: 2011-06-17（万方平台首次上网日期，不代表论文的发表时间）