Inverse Kinematics Solution of 6-DOF Manipulator Based on Multi-Objective Full-Parameter Optimization PSO Algorithm

• Main Authors: Chu, D. (Author), He, Y. (Author), Li, Q. (Author), Luo, S. (Author)
• Format: Article
• Language: English
• Published: Frontiers Media S.A. 2022
• Subjects: article; Asynchronoi learning factor; Asynchronous learning; asynchronous learning factor; body position; Efficiency; Full parameters; inertia weight; Inertia weight; Inverse kinematic solutions; inverse kinematics; Inverse kinematics; Inverse problems; Iterative methods; kinematics; learning; Learning factor; Manipulators; Multi objective; multi-objective full-parameter optimization particle swarm optimization; Multi-objective full-parameter optimization particle swarm optimization; Multiobjective optimization; Parameter estimation; Parameter optimization; particle swarm optimization; Particle swarm optimization (PSO); Swarm intelligence; time factor; Time factors
• Online Access: View Fulltext in Publisher

 A multi-objective full-parameter optimization particle swarm optimization (MOFOPSO) algorithm is proposed in this paper to overcome the drawbacks of poor accuracy, low efficiency, and instability of the existing algorithms in the inverse kinematics(IK) solution of the manipulator. In designing the multi-objective function, the proposed algorithm considers the factors such as position, posture, and joint. To improve PSO, the proposed algorithm comprehensively analyzes all factors affecting the global and local searching abilities. Based on this, the initial population is designed following the localized uniform distribution method. Meanwhile, the inertia weight, asynchronous learning factor, and time factor are respectively designed by introducing the iteration factor. Finally, this paper tests the performance of MOFOPSO with three typical functions to obtain a better inverse kinematics solution of the 6-DOF manipulator. Also, six other algorithms are taken for performance comparison. The experimental results indicate that the proposed method not only ensures the stability of the manipulator but also achieves high accuracy and efficiency in solving the inverse kinematics of the 6-DOF manipulator. Copyright © 2022 Luo, Chu, Li and He.