Inverse kinematics of 7-Dof robot based on pelican optimization algorithm

Wenzhong Nie; Dong Xu

doi:10.1117/12.3010672

1 December 2023 Inverse kinematics of 7-Dof robot based on pelican optimization algorithm

Wenzhong Nie, Dong Xu

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129402F (2023) https://doi.org/10.1117/12.3010672
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

Robots are more and more applied to the automation of fruit picking, for the picking of large fruit trees, 7-Dof robots with excellent obstacle avoidance ability have a useful place. However, the inverse kinematics solution of 7-Dof robot kinematics has the problem of low precision and many iterations. In order to solve these problems, Pelican Optimization Algorithm is introduced to optimize the redundant robot. Pelican optimization algorithm is a new meta-heuristic algorithm, which has high development ability and high space exploration ability, and is suitable for solving optimization problems. In this paper, 30 groups of positions in the motion space of 7-Dof robot are randomly selected, and the inverse kinematics is solved by Pelican optimization algorithm. The simulation results show that using Pelican optimization algorithm to solve the inverse kinematics of 7-Dof robot can basically reduce the solving error to less than 10^(-7) mm after 250 iterations, and the iterative calculation time is only about 0.26s, which has better comprehensive solving effect compared with other intelligent algorithms.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Wenzhong Nie and Dong Xu "Inverse kinematics of 7-Dof robot based on pelican optimization algorithm", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129402F (1 December 2023); https://doi.org/10.1117/12.3010672

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