Solving the Inverse Kinematics Problem for a Seven-Link Robot-Manipulator by the Particle Swarm Optimization

Abstract

The article is devoted to the algorithm’s development for a multi-link redundant robot manipulator’s autonomous operation. A manipulator with seven degrees of freedom (DOF) is considered. It is well known that the inverse kinematics problem (IKP) plays an important role in planning the robotic manipulators’ movement. The multi-link robot manipulator’s IKP, unlike a direct task, requires more calculations and time due to the complex nonlinear equations’ presence. One of the actual solving the IKP methods is the particle swarm optimization algorithm. The proposed approach based on methods for solving the direct kinematics problem, which avoids complex calculations and the singularity problem.