Application of An Improved Particle Swarm Optimization Algorithm in Inverse Kinematics Solutions of Manipulators

摘要

In this paper, the inverse kinematics solutions for robot manipulators without closed-form solutions are solved numerically. An improved Particle Swarm optimization algorithm is proposed which adds the item with previous global optimal position of particles to guide the speed update of particle swarms to improve the performance of the algorithm. In order to verify the effectiveness of the improved Particle Swarm optimization algorithm in solving inverse kinematics problem of the robot manipulator, four cases of inverse kinematics problems of 6-DOF manipulator with offset wrist are solved by the improved Particle Swarm optimization algorithm. The simulation results compared with the algorithm results of standard particle swarm optimization verify the effectiveness of the improved Particle Swarm optimization algorithm.