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
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله

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
Journal: Engineering Applications of Artificial Intelligence - Volume 74, September 2018, Pages 104-120
نویسندگان
Carlos Lopez-Franco, Jesus Hernandez-Barragan, Alma Y. Alanis, Nancy Arana-Daniel,