Particle swarm optimization for solving the inverse kinematics of 7-DOF robotic manipulators

2012 ◽  
Author(s):  
Hsu-Chih Huang ◽  
Chien-Po Chen ◽  
Pei-Ru Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Inverse Kinematics ◽  
Particle Swarm ◽  
Robotic Manipulators ◽  
Swarm Optimization

Obstacle Avoidance Optimization of Joint Robot Based on Partial PSO Algorithm

2011 ◽  
Vol 267 ◽  
pp. 574-577
Author(s):  
Jun Wei Zhao ◽  
Yan Qin Li ◽  
Guo Qiang Chen
Keyword(s):  
Particle Swarm Optimization ◽  
Obstacle Avoidance ◽  
Inverse Kinematics ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Unknown Environment ◽  
Cartesian Space ◽  
Robot Path

Aiming at the joint robot path plan in unknown environment, the paper adopts the method of obstacle avoidance in X-Y plane. The obstacles exist in the Cartesian space are transformed into the joint blind regions in the Joint (C) space through geometry principle and inverse kinematics. The simulation using the partial particle swarm optimization (PSO) algorithm is utilized in seeking the angles that can avoid obstacles. Finally the path in the Cartesian space is obtained through transforming angles. The method is verified to be simple and effective.

Motion planning for redundant robotic manipulators using a novel multi-group particle swarm optimization

2020 ◽  
Vol 13 (4) ◽  
pp. 677-686 ◽  
Author(s):  
Zikai Feng ◽  
Lijia Chen ◽  
Chung-Hao Chen ◽  
Mingguo Liu ◽  
Meng-en Yuan
Keyword(s):  
Particle Swarm Optimization ◽  
Motion Planning ◽  
Particle Swarm ◽  
Robotic Manipulators ◽  
Swarm Optimization
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