Application of Improved BQGA in Robot Kinematics Inverse Solution
نویسندگان
چکیده
منابع مشابه
Robot Kinematics: Forward and Inverse Kinematics
Kinematics studies the motion of bodies without consideration of the forces or moments that cause the motion. Robot kinematics refers the analytical study of the motion of a robot manipulator. Formulating the suitable kinematics models for a robot mechanism is very crucial for analyzing the behaviour of industrial manipulators. There are mainly two different spaces used in kinematics modelling ...
متن کاملAn Efficient Energy Transfer Inverse Kinematics Solution
In this paper, we present a fast and easy-to-implement locally physics-based Inverse Kinematics(IK) method. Our method builds upon a mass-spring model and relies on force interactions between masses. Joint rotations are computed using the closed-form method with predefined local axis coordinates. Combining these two approaches offers convincing visual quality results obtained with high time per...
متن کاملThe Closed Form Solution of the Inverse Kinematics of a 6-DOF Robot
The kinematics of manipulator is a central problem in the automatic control of robot manipulators. Theoretical background of the analysis of the MA-2000 educational robot arm kinematics is presented in this paper. The revolute robot consists of six rotary joints (6-DOF) with base, shoulder, elbow, wrist pitch, wrist yaw and wrist roll. The kinematics problem is defined as transformation from th...
متن کاملSolution for Ill-Posed Inverse Kinematics of Robot Arm by Network Inversion
In the context of controlling a robot arm with multiple joints, the method of estimating the joint angles from the given end-effector coordinates is called inverse kinematics, which is a type of inverse problems. Network inversion has been proposed as a method for solving inverse problems by using a multilayer neural network. In this paper, network inversion is introduced as a method to solve t...
متن کاملA study of neural network based inverse kinematics solution for a three-joint robot
A neural network based inverse kinematics solution of a robotic manipulator is presented in this paper. Inverse kinematics problem is generally more complex for robotic manipulators. Many traditional solutions such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. In this study, a three-joint robotic manipulator simulation software, ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Robotics
سال: 2019
ISSN: 1687-9600,1687-9619
DOI: 10.1155/2019/1659180