TY - JOUR
T1 - Inverse Kinematics Solution of Articulated Robots Using a Heuristic Approach for Optimizing Joint Displacement
AU - Vazquez-Castillo, Valentin
AU - Torres-Figueroa, Jacobo
AU - Merchan-Cruz, Emmanuel A.
AU - Vega-Alvarado, Eduardo
AU - Nino-Suarez, Paola A.
AU - Rodriguez-Canizo, Ricardo G.
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing the joint displacement while the end effector is positioned and oriented in a desired pose. The novelty of this approach is in the formulation of the optimization problem, where the objective function calculates the minimum joint displacement, with the position and orientation errors handled as equality constraints. This formulation may avoid configurations containing singularities. The IKP is solved for a defined trajectory in the dexterous workspace of the robot by using two versions of the Differential Evolution algorithm and considering two stages. First, DE/rand/1/bin is used for positioning and orienting the end effector at the first point of the trajectory regardless of its initial position. The second stage applies DE/best/1/bin in order to emphasize the exploitation process and minimize the computational time to obtain the inverse kinematics due to the closeness that exists between the consecutive points that make up the trajectory. This combination of DE versions is another contribution of the proposed approach that speeds up considerably the search process by first prioritizing the exploration and then the exploitation, and this sequential application can be used to the solution of diverse constrained numerical optimization problems. Finally, the IKP for the IRB-1600 robot was solved as a case study considering two trajectories in its dexterous workspace, circular and Lissajous. The results generated by the proposed approach for the case study were simulated in the RoboDK® industrial robot simulator.
AB - In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing the joint displacement while the end effector is positioned and oriented in a desired pose. The novelty of this approach is in the formulation of the optimization problem, where the objective function calculates the minimum joint displacement, with the position and orientation errors handled as equality constraints. This formulation may avoid configurations containing singularities. The IKP is solved for a defined trajectory in the dexterous workspace of the robot by using two versions of the Differential Evolution algorithm and considering two stages. First, DE/rand/1/bin is used for positioning and orienting the end effector at the first point of the trajectory regardless of its initial position. The second stage applies DE/best/1/bin in order to emphasize the exploitation process and minimize the computational time to obtain the inverse kinematics due to the closeness that exists between the consecutive points that make up the trajectory. This combination of DE versions is another contribution of the proposed approach that speeds up considerably the search process by first prioritizing the exploration and then the exploitation, and this sequential application can be used to the solution of diverse constrained numerical optimization problems. Finally, the IKP for the IRB-1600 robot was solved as a case study considering two trajectories in its dexterous workspace, circular and Lissajous. The results generated by the proposed approach for the case study were simulated in the RoboDK® industrial robot simulator.
KW - Heuristic algorithms
KW - differential evolution
KW - inverse kinematics problem
KW - optimization
KW - trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=85133832183&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2022.3182496
DO - 10.1109/ACCESS.2022.3182496
M3 - Artículo
AN - SCOPUS:85133832183
SN - 2169-3536
VL - 10
SP - 63132
EP - 63151
JO - IEEE Access
JF - IEEE Access
ER -