ハイパー冗長9自由度ロボットの高精度逆運動学のためのハクトウワシ探索アルゴリズム
Bald Eagle Search Algorithm for High Precision Inverse Kinematics of Hyper-Redundant 9-DOF Robot
9自由度冗長ロボットアームの逆運動学をメタヒューリスティック最適化で解き、Bald Eagle Searchが最も高精度で位置誤差が小さいことを示した比較研究。
著者: Vineeth P, Guru Nanma P, V Sankar, B Sachin Kumar
分類: cs.RO
原文アブストラクト
Robots in 3D spaces with more than six degrees of freedom are redundant. A redundant robot allows multiple configurations of the robot for the given target point in the dexterous workspace. The presence of multiple solutions helps in resolving constraints in workspace such as object avoidance and energy minimization during trajectory planning. Inverse kinematics solutions of such redundant robotics are intricate. The present study involves comparison of different metaheuristic optimization algorithms (MOA), which have a positional error, and identify a MOA for high precision of positioning of the end effector of the robot. This study applies recent MOA for the inverse kinematics of hyper redundant nine degrees of freedom (DOF) robot arm by using forward kinematics of the Denavit-Hartenberg (DH) parameters and compares the performance of these algorithms. The comparative study shows Bald Eagle Search (BES) algorithm has better performance over other metaheuristic algorithms. BES algorithm outperforms the other MOA in achieving the desired position with very high precision and least positional error for a 9-DOF robot arm.