1. A 7DOF redundant manipulator inverse kinematic solution algorithm based on bald eagle search optimization algorithm.
- Author
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Zhao, Guojun, Sun, Ying, Jiang, Du, Liu, Xin, Tao, Bo, Jiang, Guozhang, Kong, Jianyi, Yun, Juntong, Liu, Ying, and Li, Gongfa
- Subjects
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METAHEURISTIC algorithms , *OPTIMIZATION algorithms , *COMPUTATIONAL mathematics , *SWARM intelligence , *ANALYTICAL solutions - Abstract
Solving inverse kinematics (IK) is an excellent challenge for redundant manipulators due to their highly non-linear and complex coupling, which is not amenable to analytical solutions by conventional methods. In this paper, the conventional solution was replaced by the optimization process of a fitness function. The fitness function aims to obtain a set of solutions for the desired position of the end effector (EE). The function is based on forward kinematics; hence, this method can avoid singularities and be suitable for solving redundant manipulators. For solving this optimization problem, the bald eagle search (BES) optimization algorithm was chosen due to its easy principle and excellent performance. BES integrates the advantages of evolutionary and swarm techniques. On the one hand, BES maximizes the advantages offered by swarm intelligence (SI) in terms of searching within the best position in the swarm. On the other hand, BES capitalizes on the capability of evolutionary techniques to explore the search space frequently and avoid the local optimum. In this study, two 7-degree of freedom (DOF) manipulators were used to test the performance of BES. Meanwhile, several evolutionary and SI optimization algorithms were selected to compare with BES. The experimental results demonstrate that the BES optimization algorithm can efficiently and accurately solve the IK problem of 7DOF redundant manipulators. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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