Apply PSO Algorithm with Searching Space Improvements on a 5 Degrees of Freedom Robot

Nguyen, Thanh-Trung; Tao, Ngoc-Linh; Bui, Lam Thu; Nguyen, Van‐Tinh; Watanabe, Dai

doi:10.1109/irce50905.2020.9199236

Cited by 4 publications

(6 citation statements)

References 9 publications

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“…The desired point positions of the Scenario 2 and 3 are shown as the Figure 3. Research using the ISADE and Pro-ISADE algorithm, which were developed by the authors [13][14][15], to get simulation results of inverse kinematics problem and then compared it with the results when using PSO, DE and Pro-PSO, Pro-DE algorithms. When solving the IK problem for the 7-DoF serial robot manipulator, the study focused on three main aspects.…”

Section: Methodsmentioning

confidence: 99%

“…Normally, Normally, almost all studies have been using the Range of Motion (RoM) of joints for its boundary space. Our algorithm [15] proposed to use the searching space of current generation is around previous optimal joints' values. In the Table 2, the ubs iþ1 and lbs iþ1 are the joints' upper and lower boundary of the current generation.C 1 and C 2 are weights of personal best and global best, respectively.…”

Section: Methodsmentioning

confidence: 99%

“…The author introduced a novel approach of scale factorF i of each particle with their fitness in Eq. (15). Thus, in one generation the value of F iter i i ¼ 1, … , NP ðÞ are not the same for all particles in the population rather they are changed in each generation.…”

Section: Adaptive Scaling Factor F and Crossover Control Parameter Crmentioning

confidence: 99%

“…As mention in the introduction part, the disadvantage of many studies using optimization algorithms to solve the IK problem of redundant robots is to focus on the results related to the optimal running process such as execution time, number of generation … but have not yet considered the feasibility of the joints' variable values. In order to overcome these drawbacks, the author of this research [15] proposed this algorithm that is explained as following: The solution to improve the continuity of joints' values constrains the initialization domain of X. This help the program to achieve the dual goal of increasing calculation speed, accuracy and ensuring continuity for the value of joints' variables.…”

Section: Cost Functions and Algorithms With Searching Space Improvementmentioning

confidence: 99%

“…To compare the results, this IK problem was also handled by applying DE and PSO algorithms. In addition, the study also compared the results in the application of the above algorithms with the search space improvement of joints' variables (Pro-ISADE, Pro-PSO and Pro-DE) [15].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Use Improved Differential Evolution Algorithms to Handle the Inverse Kinetics Problem for Robots with Residual Degrees of Freedom

Nguyen¹,

Bui²

2021

Robotics Software Design and Engineering

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In this study, the Self-adaptive strategy algorithm for controlling parameters in Differential Evolution algorithm (ISADE) improved from the Differential Evolution (DE) algorithm, as well as the upgraded version of the algorithms has been applied to solve the Inverse Kinetics (IK) problem for the redundant robot with 7 Degree of Freedom (DoF). The results were compared with 4 other algorithms of DE and Particle Swarm Optimization (PSO) as well as Pro-DE and Pro-PSO algorithms. These algorithms are tested in three different Scenarios for the motion trajectory of the end effector of in the workspace. In the first scenario, the IK results for a single point were obtained. 100 points randomly generated in the robot’s workspace was input parameters for Scenario 2, while Scenario 3 used 100 points located on a spline in the robot workspace. The algorithms were compared with each other based on the following criteria: execution time, endpoint distance error, number of generations required and especially quality of the joints’ variable found. The comparison results showed 2 main points: firstly, the ISADE algorithm gave much better results than the other DE and PSO algorithms based on the criteria of execution time, endpoint accuracy and generation number required. The second point is that when applying Pro-ISADE, Pro-DE and Pro-PSO algorithms, in addition to the ability to significantly improve the above parameters compared to the ISADE, DE and PSO algorithms, it also ensures the quality of solved joints’ values.

show abstract

Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Adaptive Scaling Factor F and Crossover Control Parameter Crmentioning

confidence: 99%

Section: Cost Functions and Algorithms With Searching Space Improvementmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Use Improved Differential Evolution Algorithms to Handle the Inverse Kinetics Problem for Robots with Residual Degrees of Freedom

Nguyen¹,

Bui²

2021

Robotics Software Design and Engineering

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Applying Dynamic Movement Primitives to Motion Planning and Inverse Kinematics Problems of an Upper Limb Exoskeleton Robot

Nguyen,

Dao

et al. 2024

Lecture Notes in Mechanical Engineering

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Comparing the Results of Applying DE, PSO and Proposed Pro DE, Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF Scara Robot

Nguyen

2020

2020 International Conference on Advanced Mechatronic Systems (ICAMechS)

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Apply PSO Algorithm with Searching Space Improvements on a 5 Degrees of Freedom Robot

Cited by 4 publications

References 9 publications

Use Improved Differential Evolution Algorithms to Handle the Inverse Kinetics Problem for Robots with Residual Degrees of Freedom

Use Improved Differential Evolution Algorithms to Handle the Inverse Kinetics Problem for Robots with Residual Degrees of Freedom

Applying Dynamic Movement Primitives to Motion Planning and Inverse Kinematics Problems of an Upper Limb Exoskeleton Robot

Comparing the Results of Applying DE, PSO and Proposed Pro DE, Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF Scara Robot

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