Inverse kinematics of mobile manipulator using bidirectional particle swarm optimization by manipulator decoupling

M-FABRIK: A New Inverse Kinematics Approach to Mobile Manipulator Robots Based on FABRIK

“…The robot used in this example is similar to the one used in [3] and it is also similar to the manipulator used by Aristidou in [8] to present the methodology of FABRIK. So, p 1 , p 2 and p 3 are the joints of a planar manipulator, p 4 is the end-effector and t is the target.…”

“…According to Ram in [3], ample literature is available about the control of mobile manipulators. However, there is only a limited body of literature dealing with IK of MM.…”

“…In order to avoid the use of the Jacobian matrix and matrix inversions, in 2010 Huang and Tsai presented an inverse kinematics approach based on metaheuristic algorithms [9]. With this approach, Huang and Tsai obtained good results that inspired other authors to use similar approaches, as can be seen in [10] and [3].…”

“…Tests both in simulation and with real robots have been performed with these algorithms and positive results have been obtained. Moreover, environments with obstacles have also been considered, as presented in [3].…”

Inverse Kinematics Solution of a Robot Arm based on Adaptive Neuro Fuzzy Interface System

“…Solution to inverse kinematics of robot arm in both cluttered and obstacle free environment using bidirectional particle swarm optimization method is presented in [20]. The main idea behind the bidirectional search is to speed up the convergence in respect to traditional unidirectional search methodology.…”