A Comparative Study for an Inverse Kinematics Solution of an Aerial Manipulator Based on the Differential Evolution Method and the Modifi ed Shuffl ed Frog-Leaping Algorithm
| Autor: | I. N. Ibrahim |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
education.field_of_study
Robot kinematics Forward kinematics Inverse kinematics Computer science Population Kinematics Computer Science Applications Computer Science::Robotics Human-Computer Interaction symbols.namesake Artificial Intelligence Control and Systems Engineering Differential evolution Jacobian matrix and determinant symbols Electrical and Electronic Engineering education Algorithm Metaheuristic Software |
| Zdroj: | Mekhatronika, Avtomatizatsiya, Upravlenie. 19:714-724 |
| ISSN: | 2619-1253 1684-6427 |
| DOI: | 10.17587/mau.19.714-724 |
| Popis: | This paper focuses on the real-time kinematics solution of an aerial manipulator mounted on an aerial vehicle, the vehicle’s motion isn’t considered in this study. Robot kinematics using Denavit-Hartenberg model was presented. The fundamental scope of this paper is to obtain a global online solution of design configurations with a weighted specific objective function and imposed constraints are fulfilled. Acknowledging the forward kinematics equations of the manipulator; the trajectory planning issue is consequently assigned to on an optimization issue. Several types of computing methods are documented in the literature and are well-known for solving complicated nonlinear functions. Accordingly, this study suggests two kinds of artificial intelligent techniques which are regarded as search methods; they are differential evolution (DE) method and modified shuffled frog-leaping algorithm (MSFLA). These algorithms are constrained metaheuristic and population-based approaches. moreover, they are able to solve the inverse kinematics problem taking into account the mobile platform additionally avoiding singularities since it doesn’t demand the inversion of a Jacobian matrix. Simulation results are carried out for trajectory planning of 6 degree-of-freedom (DOF) kinematically aerial manipulator and confirmed the feasibility and effectiveness of the supposed methods. |
| Databáze: | OpenAIRE |
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