کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
6854128 1437404 2018 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
A soft computing approach for inverse kinematics of robot manipulators
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
A soft computing approach for inverse kinematics of robot manipulators
چکیده انگلیسی
The solution of the inverse kinematics problem is an essential capability for robotic manipulators. This capability is used to solve tasks such as path planning, control of manipulators, object grasping, etc. In this paper, we present an approach for solving the inverse kinematics of robot arm manipulators using a soft computing approach. Given a desired end effector pose, the proposed approach is able to solve both the position and orientation for the inverse kinematic problem. In addition, the proposed approach avoids singularities configurations, since, it is based on the forward kinematics equations. We present simulations and experiments, where a comparative study among some selected soft computing algorithms is realized. The simulations and experiments illustrate the effectiveness of the proposed approach.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Engineering Applications of Artificial Intelligence - Volume 74, September 2018, Pages 104-120
نویسندگان
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