IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR

Serkan Dereli; Raşit Köker

IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR

Abstract

In this paper, two variants of particle swarm optimization (PSO) are used to calculate the inverse kinematics of a new 7-revolute jointed robot arm. This robot arm is required to move from a position to the desired position with a minimum error in the workspace. A scenario has been set for this purpose. According to this scenario, it is desired that the end effector of the robot arm reach a predetermined position with the minimum error. The results obtained with Random Inertia Weight and Global Local Best Inertia Weight, are compared with the standard PSO. Moreover, the path of the robot arm obtained by cubic trajectory planning is depicted with graphs. Results that computer simulated based, reveal that PSO can be efficiently used for inverse kinematics solution. However, for the inverse kinematic solution, the PSO variables are much more effective than the standard PSO.

Keywords

References

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Details

Primary Language

English

Subjects

Engineering

Journal Section

Research Article

Authors

Serkan Dereli This is me
0000-0002-1856-6083
Türkiye

Raşit Köker This is me
0000-0002-3811-2310
Türkiye

Publication Date

March 1, 2018

Submission Date

August 16, 2017

Acceptance Date

October 3, 2017

Published in Issue

Year 2018 Volume: 36 Number: 1

IZ

https://izlik.org/JA42AY88WP

Cite

RIS / Bibtex

APA

Dereli, S., & Köker, R. (2018). IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR. Sigma Journal of Engineering and Natural Sciences, 36(1), 77-85. https://izlik.org/JA42AY88WP

AMA

1.Dereli S, Köker R. IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR. SIGMA. 2018;36(1):77-85. https://izlik.org/JA42AY88WP

Chicago

Dereli, Serkan, and Raşit Köker. 2018. “IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR”. Sigma Journal of Engineering and Natural Sciences 36 (1): 77-85. https://izlik.org/JA42AY88WP.

EndNote

Dereli S, Köker R (March 1, 2018) IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR. Sigma Journal of Engineering and Natural Sciences 36 1 77–85.

IEEE

[1]S. Dereli and R. Köker, “IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR”, SIGMA, vol. 36, no. 1, pp. 77–85, Mar. 2018, [Online]. Available: https://izlik.org/JA42AY88WP

ISNAD

Dereli, Serkan - Köker, Raşit. “IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR”. Sigma Journal of Engineering and Natural Sciences 36/1 (March 1, 2018): 77-85. https://izlik.org/JA42AY88WP.

JAMA

1.Dereli S, Köker R. IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR. SIGMA. 2018;36:77–85.

MLA

Dereli, Serkan, and Raşit Köker. “IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR”. Sigma Journal of Engineering and Natural Sciences, vol. 36, no. 1, Mar. 2018, pp. 77-85, https://izlik.org/JA42AY88WP.

Vancouver

1.Serkan Dereli, Raşit Köker. IW-PSO APPROACH TO THE INVERSE KINEMATICS PROBLEM SOLUTION OF A 7-DOF SERIAL ROBOT MANIPULATOR. SIGMA [Internet]. 2018 Mar. 1;36(1):77-85. Available from: https://izlik.org/JA42AY88WP