An Adaptive PSO-Based Method for Inverse Kinematics Analysis of Serial Manipulator
The Adaptive Particle Swarm Optimization method(A-PSO) combined the kinematic equations is proposed in this paper.The A-PSO 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) is built.In the proposed searching process,the position matrix and the pose matrix of the fitness function are adjusted by joints form,the steps of the particle swarm change with the global extremum.The proposed 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 A-PSO 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.
dangerous articles disposal manipulator inverse kinematics fitness function variable step Particle Swarm Optimization method
Panfeng Zhang Xihui Mu Zhenshu Ma Fengpo Du
Shijiazhuang New Technology Application Institute Shijiazhuang, China
国际会议
成都
英文
1124-1128
2012-06-15（万方平台首次上网日期，不代表论文的发表时间）