Genetic Algorithm for Solving the Inverse Kinematics Problem for General 6R Robots

Abstract

The problem of inverse kinematics for general 6R robots was provided for calculation process, and also exist many inverse kinematics and geometric structure which did not meet the PIEPER criterion. In order to solve these problems, an inverse kinematics algorithm with high accuracy based on multiple population genetic algorithm (MPGA) was proposed. Multiple population was performed to accelerate the convergence rate and avoid the defect of the least part point. For illustrating the performance of the MPGA, the simulation results attained from MPGA are compared with those obtained from well-known single-population genetic algorithm (SGA). Experiments on Panasonic TA1400 robot verified that the algorithm could calculate all globally optimal solutions of general geometric structure and the pose error also can have up to two digits after the decimal point. So this algorithm can be used to guarantee higher control accuracy.

Kinematic Modeling and Simulation of Dual-Arm Robot

“…Where S i º sin q i , C i º cos q i , S ij º sin(q i + q j ), C i º cos(q i + q j ), and l Li are geometric link parameters in Figure 1. By comparing the elements (1,4), (2,4) and (3,4) of the E L2 and E R2 , we can obtain C 4 and then S 4 from C 4 , and from which we can find the joint solution for q 4 . we can solve q 5 when we have solved q 4 .…”

“…Analytical inverse kinematics of the manipulator can efficiently obtain all the inverse solutions of the manipulator in the desired position, but the manipulator must satisfy the Piper criterion [3]. The numerical method has no special requirements for the joint number and structure of the manipulator, but it needs to be solved through continuous iteration, which not only takes a long time, but the average calculation error is also 10 times that of the analytical method [4,5].…”

An assembly system based on industrial robot with binocular stereo vision

“…In this phase, the positions in the camera coordinate system would convert into industrial robot coordinate system. In the industrial robot module, the joint angles of the industrial robot are gotten by the inverse solution with GA, which are used to adjust the grasping positions and orientations of the end-effector to complete the assembly [5,6]. …”

Analysis of Open Architecture 6R Robot Forward and Inverse Kinematics Adaptive to Structural Variations

“…More recent academic studies on robot kinematics are often based on screw theory [13][14][15], which provides better solutions, but are difficult to be utilized by domestic robot manufactures. For the robot controllers with fast CPUs, numerical solutions are always possible, and therefore, the studies on numerical approach are also well documented [16][17][18]. is study aims to develop open architecture kinematic models and controllers for small or medium robot manufactures, and therefore DH modelling remains in focus.…”