TY - JOUR
T1 - Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-dof and 8-dof robot manipulators based on unit quaternion representation
AU - Abdor-Sierra, Javier Alexis
AU - Merchán-Cruz, Emmanuel Alejandro
AU - Sánchez-Garfias, Flavio Arturo
AU - Rodríguez-Cañizo, Ricardo Gustavo
AU - Portilla-Flores, Edgar Alfredo
AU - Vázquez-Castillo, Valentin
N1 - Publisher Copyright:
© 2021 Institut za Istrazivanja. All rights reserved.
PY - 2021
Y1 - 2021
N2 - Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used not only for individual poses but for trajectory planning.
AB - Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used not only for individual poses but for trajectory planning.
KW - 7-DOF
KW - 8-DOF
KW - Inverse kinematics
KW - Particle swarm optimization
KW - Quaternion
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85115427376&partnerID=8YFLogxK
U2 - 10.5937/jaes0-30557
DO - 10.5937/jaes0-30557
M3 - Artículo
AN - SCOPUS:85115427376
SN - 1451-4117
VL - 19
SP - 592
EP - 599
JO - Journal of Applied Engineering Science
JF - Journal of Applied Engineering Science
IS - 3
ER -