Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm

doi:10.1177/17298814211014413

	Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm
	Zhang, Qianqian 1,2; Wang, Daqing 2; Gao, Lifu 2
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2021-05-01
卷号	18
关键词	DE IK adaptive mutation operator adaptive scaling factor orienting weighting factor
ISSN号	1729-8814
DOI	10.1177/17298814211014413
通讯作者	Wang, Daqing(dqwang@mail.ustc.edu.cn)
英文摘要	To assess the inverse kinematics (IK) of multiple degree-of-freedom (DOF) serial manipulators, this article proposes a method for solving the IK of manipulators using an improved self-adaptive mutation differential evolution (DE) algorithm. First, based on the self-adaptive DE algorithm, a new adaptive mutation operator and adaptive scaling factor are proposed to change the control parameters and differential strategy of the DE algorithm. Then, an error-related weight coefficient of the objective function is proposed to balance the weight of the position error and orientation error in the objective function. Finally, the proposed method is verified by the benchmark function, the 6-DOF and 7-DOF serial manipulator model. Experimental results show that the improvement of the algorithm and improved objective function can significantly improve the accuracy of the IK. For the specified points and random points in the feasible region, the proportion of accuracy meeting the specified requirements is increased by 22.5% and 28.7%, respectively.
资助项目	Strategic Priority Research Program of the Chinese Academy of Sciences[XDA22040303] ; 13th five year plan of Hefei Institute of Physical Sciences, Chinese Academy of Sciences[KP-2019-14] ; Anhui Natural Science Foundation of China[1808085QF214]
WOS关键词	OPTIMIZATION
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000755998800001
资助机构	Strategic Priority Research Program of the Chinese Academy of Sciences ; 13th five year plan of Hefei Institute of Physical Sciences, Chinese Academy of Sciences ; Anhui Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/127621]
专题	中国科学院合肥物质科学研究院
通讯作者	Wang, Daqing
作者单位	1.Univ Sci & Technol China, Dept Sci Isl, Hefei, Peoples R China 2.Chinese Acad Sci, Hefei Inst Phys Sci, Inst Intelligent Machines, 350 Shushanhu Rd, Hefei 230031, Anhui, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Qianqian,Wang, Daqing,Gao, Lifu. Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18.
APA	Zhang, Qianqian,Wang, Daqing,&Gao, Lifu.(2021).Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18.
MLA	Zhang, Qianqian,et al."Research on the inverse kinematics of manipulator using an improved self-adaptive mutation differential evolution algorithm".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18(2021).