A Hybrid Solution for the Inverse Kinematic on a Seven DOF Robotic Manipulator

被引：9
|
作者：
Veslin, E. Y. [1 ]
Dutra, M. S. [2 ]
Lengerke, O. [3 ]
Carreno, E. A. [4 ]
Tavera, M. J. M. [3 ]
机构：
[1] Univ Boyaca, Tunja, Boyaca, Colombia
[2] Univ Fed Rio de Janeiro COPPE UFRJ, Rio De Janeiro, Brazil
[3] Univ Autonoma Bucaramanga UNAB, Santander, Colombia
[4] UNAD, Fac Med, Bogota, Colombia
来源：
IEEE LATIN AMERICA TRANSACTIONS | 2014年 / 12卷 / 02期
关键词：
genetic algorithm; inverse kinematics; artificial intelligence; human arm; robotic manipulator; GENETIC ALGORITHMS;
D O I：
10.1109/TLA.2014.6749540
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a solution for the inverse kinematics in a human arm kinematics model of seven degrees of freedom applying Genetic Algorithms in the shoulder joint and the Piper method in the whole arm in order to make the algorithm response faster and accurate. The Genetic Algorithm's code explores a set of initial solutions and optimizing it until find an angular response that satisfies the positional and rotational restrictions proposed to the model with a minimal error and a considerably speed. The accuracy and reliability of the applied algorithm is evaluated applying a statistical analysis upon a set of answers using SPSS Statistics.
引用
收藏
页码：212 / 218
页数：7
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