Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

作者：Huang Hsu Chih^*; Xu Sendren Sheng Dong; Hsu Huan Shiuan

来源：Mathematical Problems in Engineering, 2014, 2014: 358269.

DOI：10.1155/2014/358269

This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA) swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF) humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot armis redundant and has no general closed-form solutions or analytical solutions. The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application. The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA ( TDNA) solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA) solver and ant, colony optimization (ACO) solver.

• 出版日期2014