Research on the Inverse Kinematics of a Six-Degree-of-Freedom Robotic Arm Based on Improved Particle Swarm Optimization Algorithm
This paper improves the process of the PSO algorithm by dividing the total number of iterations into sub-iterations,optimizing the fitness function of the algorithm,and adopting the spherical wrist ap-proach to substitute for the DH modeling method.Firstly,by analyzing the inverse kinematics of an exam-ple robotic arm,the effectiveness of the proposed improved algorithm in reducing computation time is demonstrated.Secondly,the algorithm proposed in this paper is compared with three variants of the PSO,and a comparative simulation study is conducted on 20 randomly selected positions and directions in the workspace of PUMA560 and ABB IRB120 robotic arm.Thirdly,the Wilcoxon non-parametric statistical test is employed to compare the algorithms.Lastly,as far as analysis of the simulation results by consider-ing calculation time,positioning accuracy and solution rate is concerned,it can be seen that the improved PSO algorithm in this paper is more feasible than other PSO variants.
万方数据
维普
