Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation

Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed soluti...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Abdor-Sierra Javier Alexis, Merchán-Cruz Emmanuel Alejandro, Sánchez-Garfias Flavio Arturo, Rodríguez-Cañizo Ricardo Gustavo, Portilla-Flores Edgar Alfredo, Vázquez-Castillo Valentin
Formato:	article
Lenguaje:	EN
Publicado:	Institut za istrazivanja i projektovanja u privredi 2021
Materias:	particle swarm optimization 7-dof 8-dof inverse kinematics trajectory planning quaternion Technology T Engineering (General). Civil engineering (General) TA1-2040
Acceso en línea:	https://doaj.org/article/264c443eae534a09a9fd5968908650b7
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:264c443eae534a09a9fd5968908650b7
record_format	dspace
spelling	oai:doaj.org-article:264c443eae534a09a9fd5968908650b72021-12-05T21:23:12ZParticle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation1451-41171821-319710.5937/jaes0-30557https://doaj.org/article/264c443eae534a09a9fd5968908650b72021-01-01T00:00:00Zhttps://scindeks-clanci.ceon.rs/data/pdf/1451-4117/2021/1451-41172103592A.pdfhttps://doaj.org/toc/1451-4117https://doaj.org/toc/1821-3197Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used not only for individual poses but for trajectory planning.Abdor-Sierra Javier AlexisMerchán-Cruz Emmanuel AlejandroSánchez-Garfias Flavio ArturoRodríguez-Cañizo Ricardo GustavoPortilla-Flores Edgar AlfredoVázquez-Castillo ValentinInstitut za istrazivanja i projektovanja u privrediarticleparticle swarm optimization7-dof8-dofinverse kinematicstrajectory planningquaternionTechnologyTEngineering (General). Civil engineering (General)TA1-2040ENIstrazivanja i projektovanja za privredu, Vol 19, Iss 3, Pp 592-599 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	particle swarm optimization 7-dof 8-dof inverse kinematics trajectory planning quaternion Technology T Engineering (General). Civil engineering (General) TA1-2040
spellingShingle	particle swarm optimization 7-dof 8-dof inverse kinematics trajectory planning quaternion Technology T Engineering (General). Civil engineering (General) TA1-2040 Abdor-Sierra Javier Alexis Merchán-Cruz Emmanuel Alejandro Sánchez-Garfias Flavio Arturo Rodríguez-Cañizo Ricardo Gustavo Portilla-Flores Edgar Alfredo Vázquez-Castillo Valentin Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
description	Finding the inverse kinematic solution of a serial manipulator has always attracted the attention of optimization enthusiasts, as the solution space is highly nonlinear and, depending on the number of degrees of freedom, has multiple solutions. In the literature, one can find several proposed solutions using heuristic techniques; however, for highly redundant manipulators, e.g., seven or more, the discussions focused on minimizing the positional error. In this paper, a metaheuristic approach is presented to solve not only the inverse kinematics of a 7 and 8 DOF manipulators but the proposed algorithm is used to find the robot's poses for trajectory planning where the robot is required to meet the desired position and orientation based on quaternion representation of each point along the path. The metaheuristic approach used in this paper is particle swarm optimization (PSO), where the unit quaternion is used in the objective function to find the orientation error. The results prove that the use of the unit quaternion representation improved the performance of the algorithm and that our approach can be used not only for individual poses but for trajectory planning.
format	article
author	Abdor-Sierra Javier Alexis Merchán-Cruz Emmanuel Alejandro Sánchez-Garfias Flavio Arturo Rodríguez-Cañizo Ricardo Gustavo Portilla-Flores Edgar Alfredo Vázquez-Castillo Valentin
author_facet	Abdor-Sierra Javier Alexis Merchán-Cruz Emmanuel Alejandro Sánchez-Garfias Flavio Arturo Rodríguez-Cañizo Ricardo Gustavo Portilla-Flores Edgar Alfredo Vázquez-Castillo Valentin
author_sort	Abdor-Sierra Javier Alexis
title	Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
title_short	Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
title_full	Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
title_fullStr	Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
title_full_unstemmed	Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation
title_sort	particle swarm optimization for inverse kinematics solution and trajectory planning of 7-dof and 8-dof robot manipulators based on unit quaternion representation
publisher	Institut za istrazivanja i projektovanja u privredi
publishDate	2021
url	https://doaj.org/article/264c443eae534a09a9fd5968908650b7
work_keys_str_mv	AT abdorsierrajavieralexis particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation AT merchancruzemmanuelalejandro particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation AT sanchezgarfiasflavioarturo particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation AT rodriguezcanizoricardogustavo particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation AT portillafloresedgaralfredo particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation AT vazquezcastillovalentin particleswarmoptimizationforinversekinematicssolutionandtrajectoryplanningof7dofand8dofrobotmanipulatorsbasedonunitquaternionrepresentation
_version_	1718370990602321920

Particle swarm optimization for inverse kinematics solution and trajectory planning of 7-DOF and 8-DOF robot manipulators based on unit quaternion representation

Ejemplares similares