Inverse Kinematics for Serial Robot Manipulators by Particle Swarm Optimization and POSIX Threads Implementation

Inverse kinematics is a fundamental problem in manipulator robotics: set of joint angles must be calculated so that the robot arm can manipulated to corresponding desired end effector position and orientation (also known as “pose”). Traditional solution techniques include analytical solvers, which provide closed-form expressions for positions functions end-effector pose. When inverse solvers are not possible due structure, numerical methods such Newton–Raphson or Jacobian used achieve task, but at much slower speed due, iterative nature computation. Recent swarm intelligence technology has also contributed solutions. In this paper, use Particle Swarm Optimization (PSO) approach solving investigated general serial robotic manipulators. Many reviewed using only deal with its orientation. Our PSO provides convergence complete pose will demonstrated Baxter Research Robot, two seven-joint arms, although method applicable any manipulator. For computational efficiency, kinematic calculations were implemented parallel Portable Operating Interface (POSIX) threads take advantage independent particle dynamics.