Particle swarm optimization for solving the inverse kinematics of 7-DOF robotic manipulators

摘要

This paper presents a particle swarm optimization algorithm (PSO) for solving the inverse kinematics of 7 degree-of-freedom (DOF) robotic manipulators. Although the 7-DOF robotic manipulator agilely maneuvers from one pose to another and easily performs some tasks, the inverse kinematics problem of the system is redundant. This problem has no general closed-form solutions or analytical solutions for the 7-DOF manipulator. The PSO algorithm is proposed to solve the redundant inverse kinematics problem of the 7-DOF robotic manipulators more efficiently. This PSO algorithm is shown to take advantage of powerful intelligent background and constructive cooperation between particles. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods.