Apply PSO Algorithm with Searching Space Improvements on a 5 Degrees of Freedom Robot

摘要

In this research, Particle Swarm Optimization (PSO) algorithm has been applied to solve the Inverse Kinematic (IK) problem for redundant serial manipulator robots. The new point of the study is to consider the continuity of the joints' variable. By noting this problem, the process of solving the Inverse Kinematic problem for the robots by the optimal algorithm has been significantly improved in terms of accuracy, execution time, and standard deviation (STD) as well as the number of iterations needed. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The results show that just using the PSO algorithm with the above search domain limit has improved the quality of IK process.