A PSGO-Based Method for Inverse Kinematics Analysis of Serial Dangerous Articles Disposal Manipulator

作者：Zhang Panfeng^*; Mu Xihui; Ma Zhenshu; Du Fengpo

来源：Information-An International Interdisciplinary Journal, 2012, 15(12B): 5703-5710.

• Particle Swarm Gene Optimization (PSGO) method
• Dangerous articles disposal manipulator
• Inverse kinematics
• Fitness function

The Particle Swarm Gene Optimization (PSGO) method which is optimized by combining the inverse kinematics equation in the traditional Particle Swarm Optimization (PSO) method is proposed in this paper. By using the kinematic equations directly, PSGO method is capable of obtaining the optimal solution of joint variables. The inverse kinematics mathematic model of the serial dangerous articles disposal manipulator with multiple degrees of freedom (Multi-DOFs), together with the proposed PSGO-based searching process is developed. The proposed PSGO method is able to reduce the complexity of the analysis of inverse kinematic equations, and the adaptive solution can be obtained. Compared to the traditional PSO algorithm, the proposed PSGO-based method can obtain the logical joint variables in a more computationally efficient manner. The accuracy and efficiency of the proposed method is demonstrated in case study.

• 出版日期2012-12