Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics

DOI

10.2991/lemcs-15.2015.132How to use a DOI?

Keywords

Cuckoo search algorithm; D-H; Multi-joint robot; Inverse kinematics; Optimization

Abstract

Forward kinematics and inverse kinematics are two aspects of the robot kinematics solution, and the optimization of the inverse kinematics of robots is the most important and difficult part of robot kinematics. Parameters for each link of the robot need to be identified according to the position and orientation in both of teaching programming and interpolation. In view of the fact that to obtain the analytic solutions of the inverse kinematics of robots must meet special conditions, this paper used a general solution, cuckoo search algorithm, in order to get the optimization of inverse kinematics without any of special conditions. Simulation results show that the algorithm can be effectively applied to the robot inverse kinematics, and is able to achieve sufficient accuracy.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

TY  - CONF
AU  - Zefan Cai
AU  - Daoping Huang
PY  - 2015/07
DA  - 2015/07
TI  - Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics
BT  - Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science
PB  - Atlantis Press
SP  - 676
EP  - 679
SN  - 1951-6851
UR  - https://doi.org/10.2991/lemcs-15.2015.132
DO  - 10.2991/lemcs-15.2015.132
ID  - Cai2015/07
ER  -