Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science

Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics

Authors
Zefan Cai, Daoping Huang
Corresponding Author
Zefan Cai
Available Online July 2015.
DOI
10.2991/lemcs-15.2015.132How to use a DOI?
Keywords
Cuckoo search algorithm; D-H; Multi-joint robot; Inverse kinematics; Optimization
Abstract

Forward kinematics and inverse kinematics are two aspects of the robot kinematics solution, and the optimization of the inverse kinematics of robots is the most important and difficult part of robot kinematics. Parameters for each link of the robot need to be identified according to the position and orientation in both of teaching programming and interpolation. In view of the fact that to obtain the analytic solutions of the inverse kinematics of robots must meet special conditions, this paper used a general solution, cuckoo search algorithm, in order to get the optimization of inverse kinematics without any of special conditions. Simulation results show that the algorithm can be effectively applied to the robot inverse kinematics, and is able to achieve sufficient accuracy.

Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science
Series
Advances in Intelligent Systems Research
Publication Date
July 2015
ISBN
10.2991/lemcs-15.2015.132
ISSN
1951-6851
DOI
10.2991/lemcs-15.2015.132How to use a DOI?
Copyright
© 2015, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Zefan Cai
AU  - Daoping Huang
PY  - 2015/07
DA  - 2015/07
TI  - Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics
BT  - Proceedings of the International Conference on Logistics, Engineering, Management and Computer Science
PB  - Atlantis Press
SP  - 676
EP  - 679
SN  - 1951-6851
UR  - https://doi.org/10.2991/lemcs-15.2015.132
DO  - 10.2991/lemcs-15.2015.132
ID  - Cai2015/07
ER  -