Inverse Kinematics of Serial Manipulators in Cluttered Environments using a new Paradigm of Particle Swarm Optimization
نویسندگان
چکیده
منابع مشابه
Inverse Kinematics of Serial Manipulators in Cluttered Environments Using a New Paradigm of Particle Swarm Optimization
In this paper, a new Behavioral-based Particle Swarm Optimization algorithm is proposed in order to solve the inverse kinematics problem for a manipulator operating in an environment cluttered with obstacles. The introduced variant of the Particle Swarm Optimization relies on the idea of dividing the population of the particles in subgroups, each of which with a specific task, achieving in this...
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Kinematic redundancy of a pair of manipulator-task can be classified into intrinsic and functional redundancies. This paper compares two different approaches to solve the inverse kinematics of functionally-redundant serial manipulators. First, the augmented approach add a virtual joint to the manipulator in order to render the Jacobian matrice underdetermined and project a secondary task onto t...
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ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 2014
ISSN: 1474-6670
DOI: 10.3182/20140824-6-za-1003.01094