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首页> 外文期刊>Inverse Problems in Science & Engineering >Calculation of the inverse kinematics solution of the 7-DOF redundant robot manipulator by the firefly algorithm and statistical analysis of the results in terms of speed and accuracy
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Calculation of the inverse kinematics solution of the 7-DOF redundant robot manipulator by the firefly algorithm and statistical analysis of the results in terms of speed and accuracy

机译：通过萤火虫算法计算7-DOF冗余机器人机械手的逆运动学解决方案及速度和精度结果的统计分析

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摘要

In this study, the inverse kinematics solution of a 7-DOF redundant robot manipulator was performed by using firefly algorithm that is a swarm optimization technique. In order to show the power of this technique, a redundant robotic arm which is inadequate inverse kinematic solution by conventional methods has been chosen. Both speed and accuracy are two important factors in robotic studies. For this reason, the comparison of the method used in this study in terms of speed and accuracy has been carried out in depth. The scenario used is as follows: Firstly, the position equations of this manipulator are derived with the DH parameters. Afterward, the position of the end effector is obtained in the work space according to the forward kinematic calculation. Finally, the joint angles that will be directed to the calculated position values with the least error are obtained by the firefly algorithm and the obtained result is compared with other swarm algorithms such as particle swarm optimization and artificial bee colony.
机译：在这项研究中，通过使用萤火虫算法是一种群优化技术，执行7-DOF冗余机器人操纵器的逆运动学解。为了展示该技术的力量，选择了通过常规方法的逆运动溶液不足的冗余机械臂。速度和准确性都是机器人研究中的两个重要因素。因此，在速度和精度方面，本研究中使用的方法的比较已经深入实施。所使用的场景如下：首先，该操纵器的位置方程源于DH参数。之后，根据前向运动计算在工作空间中获得末端执行器的位置。最后，将通过萤火虫算法获得将被引导到计算出的位置值的关节角度，并将获得的结果与其他群算法进行比较，例如粒子群优化和人造蜜蜂菌落。

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