Real-Time Inverse Kinematics Using Dual Particle Swarm Optimization DPSO of 6-DOF Robot for Nuclear Plant Dismantling
نویسندگان
چکیده
منابع مشابه
Time Variant Fuzzy Time Series Approach for Forecasting Using Particle Swarm Optimization
Fuzzy time series have been developed during the last decade to improve the forecast accuracy. Many algorithms have been applied in this approach of forecasting such as high order time invariant fuzzy time series. In this paper, we present a hybrid algorithm to deal with the forecasting problem based on time variant fuzzy time series and particle swarm optimization algorithm, as a highly effi...
متن کاملINVERSE FREQUENCY RESPONSE ANALYSIS FOR PIPELINES LEAK DETECTION USING THE PARTICLE SWARM OPTIMIZATION
Inverse Transient Analysis (ITA) is a powerful approach for leak detection of pipelines. When the pipe transient flow is analyzed in frequency domain the ITA is called Inverse Frequency Response Analysis (IFRA). To implement an IFRA for leak detection, a transient state is initiated in the pipe by fast closure of the downstream end valve. Then, the pressure time history at the valve location is...
متن کاملInverse 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...
متن کاملAnalytical Inverse kinematics Algorithm Of A 5-DOF Robot Arm
The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. Both forward and inverse kinematics solutions for the TR 4000 educational robot arm are presented. The closed form solution of the inverse kinematics problem is of utmost importance in controlling robotic manipulator. In this paper, a closed form solution to the inverse kinematics...
متن کاملThe Closed Form Solution of the Inverse Kinematics of a 6-DOF Robot
The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2020
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2020.12.2695