PSO-based Algorithm for Inverse Kinematics Solution of Robotic Arm Manipulators

摘要

Inverse kinematics is an important and challenging problem in the robotics field. The analytical solution of the problem is complex and time consuming. In this paper, particle swarm optimization (PSO) is used to solve the inverse kinematics problem of 6-DOF KUKA KR 6 R900 robotic arm manipulator. The proposed algorithm uses PSO to generate inverse kinematic solutions by searching the six-dimensional joint space. These solutions are then used to construct the end-effector pose using forward kinematics with the objective of finding the optimal joint angles. A multi-objective fitness function is used to measure the position and orientation errors of the generated solutions. Simulation results for three different cases show that the proposed PSO-based algorithm can solve the inverse kinematics problem efficiently with minimum error in the end-effector pose.