Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics
- 10.2991/lemcs-15.2015.132How to use a DOI?
- Cuckoo search algorithm; D-H; Multi-joint robot; Inverse kinematics; Optimization
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.
- © 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 -