A hybrid differential evolution and particle swarm optimization algorithm for numerical kinematics solution of remote maintenance manipulators

Mao, Bingyan; Xie, Zongwu; Wang, Yongbo; Handroos, Heikki; Wu, Huapeng; Shi, Shanshuang

doi:10.1016/j.fusengdes.2017.03.042

Cited by 33 publications

(23 citation statements)

References 2 publications

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“…The cooperative path tracking results for these initial joint configurations are given below. Figure 10 shows the path tracking and the position error results for the dual-arm Baxter system on the sinusoidal trajectory using the initial joint configuration in equation (15). The Figure 10(a) and (b) shows the results for the tracking of manipulators A and B, respectively.…”

Section: Cooperative Path Tracking Testsmentioning

confidence: 99%

“…The joint displacement results for Baxter arms on the sinusoidal trajectory using the initial joint configuration in equation (15) are given in Figure 11. Figure 11(a) and (b) present the joint displacement results for the proposed approach of manipulators A and B, respectively.…”

Section: Cooperative Path Tracking Testsmentioning

confidence: 99%

“…Tracking and position error results for Baxter arms on sinusoidal trajectory using the initial joint configuration (equation(15)). (a) and (b) show the tracking results, where (p1 ae , p 1 be ) and (p 2 ae , p 2 be ) are the results for the proposed approach and the conventional method, respectively.…”

mentioning

confidence: 99%

“…(c) and (d) present the position error results, where (p 1 a error , p 1 b error ) and (p 2 a error , p 2 b error ) are the results for the proposed approach and the conventional method, respectively. Joint displacement results for Baxter arms on sinusoidal trajectory using the initial joint configuration (equation(15)). (a) and (b) show the results for the proposed approach.…”

mentioning

confidence: 99%

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Dual-arm cooperative manipulation based on differential evolution

Hernández-Barragán

López-Franco

Alanis

et al. 2019

International Journal of Advanced Robotic Systems

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Cooperative manipulation in dual-arm robotic systems is a fundamental capability to perform many problems such as human-like tasks. In this article, we present an approach to solve dual-arm cooperative manipulation tasks using the differential evolution algorithm. In this work, manipulator kinematics are represented using the Denavit-Hartenberg model. The proposed method is able to avoid singularities because it does not require the inversion of any Jacobian matrix. In addition, the proposed approach handles joint limit constraints based on penalty functions. As a final remark, this approach is suitable for robotic systems of redundant or non-redundant serial manipulators composed of revolute or prismatic joints. Simulation experiments illustrate the effectiveness of the proposed approach under different dual-arm configurations. Furthermore, real experiments were performed using a dual-arm KUKA Youbot system to show the applicability of the proposed approach.

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Section: Cooperative Path Tracking Testsmentioning

confidence: 99%

Section: Cooperative Path Tracking Testsmentioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

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Dual-arm cooperative manipulation based on differential evolution

Hernández-Barragán

López-Franco

Alanis

et al. 2019

International Journal of Advanced Robotic Systems

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“…A fitness function was derived and minimized to resolve the pose IK problem based on PSO for multiple DoF up to 180 [12], concluding that the runtime and iterations are 4.22 seconds and 118 respectively for a 9-DoF. A hybrid method called DEMPSO based on DE and Modified PSO algorithms was developed in order to minimize the solution time for the pose, moreover a comparative study for several swarm intelligent optimization algorithms as ABC and ACO algorithms were presented [13]. DEMPSO results showed great advantage concerning execution time for reaching the position similar to the performance of DE for the orientation aim.…”

Section: Introductionmentioning

confidence: 99%

The investigation of trajectory control for an anthropomorphic manipulator attached to a vehicle

Ibrahim¹,

Akkad²

2019

Instrumentation Engineering, Electronics and Telecommunications

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This paper concentrates on deriving an inverse kinematics solution of a manipulator attached to an aerial vehicle for real-time applications. Analyzing the vehicle's movement itself is not considered. The kinematics solution using Denavit-Hartenberg model was introduced. Adopting the resulted forward kinematics equations of the manipulator, the trajectory planning problem turns into an optimization task. For solving constrained complicated nonlinear functions, shuffled frog leaping search algorithm is suggested to get a global online solution of the design configurations with a weighted objective function subject to some constraints. It is a constrained metaheuristic and population-based approach. Moreover, it is able to solve the inverse kinematics problem considering the mobile platform, in addition to avoiding singularities, since it does not demand the inversion of a Jacobian matrix. Simulation experiments have been carried out for the trajectory planning of a six degree of freedom aerial manipulator, and the obtained results confirmed the feasibility and effectiveness of the suggested method.

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