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, Thanh-Trung; Nguyen, Van-Tu; Nguyen, Xuan-Huong

doi:10.1109/icamechs49982.2020.9310157

Cited by 4 publications

(4 citation statements)

References 13 publications

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“…Assuming that the space of solutions is an n-dimensional space, then each particle is considered as a candidate solution to this n-dimensional search space, and each particle has memory. During each iteration, the particle updates the optimal position based on the calculated fitness value, and also updates the global optimal position based on the optimal positions of all particles in the particle swarm [41]. Assuming that there are m particles forming a particle swarm in an n-dimensional target search space, the iterative formulation of the algorithm is as follows:…”

Section: Particle Swarm Optimization Algorithmmentioning

confidence: 99%

Research on a PSO-H-SVM-Based Intrusion Detection Method for Industrial Robotic Arms

2022

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The automation and intelligence of industrial manufacturing is the core of the fourth industrial revolution, and robotic arms and proprietary networked information systems are an integral part of this vision. However, with the benefits come risks that have been overlooked, and robotic arms have become a heavily attacked area. In order to improve the security of the robotic arm system, this paper proposes an intrusion detection method based on a state classification model. The closure operation process of the robotic arm is divided into five consecutive states, while a support vector machine based on the particle swarm optimization algorithm (PSO-H-SVM) classifies the operation state of the robotic arm. In the detection process, the classifier predicts the operation state of the robotic arm in real time, and the detection method determines whether the state transfer meets the logical requirements, and then determines whether the intrusion occurs. In addition, a response mechanism is proposed on the basis of the intrusion detection system to make protection measures for the robotic arm system. Finally, a physical experiment platform was built to test the intrusion detection method. The results showed that the classification accuracy of the PSO-H-SVM algorithm reached 96.02%, and the detection accuracy of the intrusion detection method reached 90%, which verified the effectiveness and reliability of the intrusion detection method.

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Section: Particle Swarm Optimization Algorithmmentioning

confidence: 99%

Research on a PSO-H-SVM-Based Intrusion Detection Method for Industrial Robotic Arms

2022

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“…The lower and upper boundaries also represent constraints that must be considered for real-world implementations. We considered solving the inverse kinematics of mobile dual-arm robots as a global constrained optimization problem, which is expressed as arg min q f (q), subject to q l < q < q u (13) where q defines the optimal configuration of the mobile dual-arm system with q = q T 0 q T 1 q T 2 T . The set of solutions that satisfy F = {q : q l < q < q u } is called the feasible solutions.…”

Section: Inverse Kinematics Based On Metaheuristics Optimization Algo...mentioning

confidence: 99%

“…The relative desired position for end-effector 2 is computed using (8). Then, the inverse kinematics is solved based on the optimization problem expressed in (13) to obtain an optimal configuration q k . The solution q k becomes the previous configuration for the next desired point t * k+1 .…”

Section: Coordinated Trajectory Tracking Algorithmmentioning

confidence: 99%

“…Many versions of particle swarm optimization (PSO) have been applied to solve inverse kinematics for robotics manipulators [8,9], multi-DOF manipulators [10], and dual-arm space robots [11]. Moreover, many variants of differential evolution (DE) also have been implemented to solve the inverse kinematics of robotic manipulators [12,13] and human-like structures [14]. Artificial bee colony (ABC) and grey wolf optimization (GWO) have been also used to solve the inverse kinematics of the 4-DOF SCARA manipulator [15].…”

Section: Introductionmentioning

confidence: 99%

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A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots

et al. 2022

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This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA® Youbot® robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.

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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

Cited by 4 publications

References 13 publications

Research on a PSO-H-SVM-Based Intrusion Detection Method for Industrial Robotic Arms

Research on a PSO-H-SVM-Based Intrusion Detection Method for Industrial Robotic Arms

A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots

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

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