Abstract

Inverse acceleration problem is very difficult for a serial robot having less than 6 degree of freedom (DOFs), this difficulty is due to the complexity of the inverse Jacobian matrix. For the sake of this problem an approach to solve inverse acceleration of a robot was introduced in this paper, in which harmony search algorithm (HSA) was used to calculate the inverse problem without calculating inverse Jacobian matrix. It is proved that it is applicable by simulation inverse acceleration for a 3-DOF robot. ANSYS 15.0 was used as a simulation software package.

References

• YONG-GUI ZHANG, YU-MEI HUANG, LI-MING XIE. “ROBOT INVERSE ACCELERATION SOLUTION BASED ON HYBRID GENETIC ALGORITHM”. Proceedings of the Seventh International Conference on Machine Learning and Cybernetics, Kunming. pp 2099-2013 July 2008.
• Panfeng Zhang, Xihui Mu, Zhenshu Ma, Fengpo Du. “An Adaptive PSO-Based Method for InverseKinematics Analysis of Serial Manipulator”, Quality, Reliability, Risk, Maintenance, and Safety Engineering (ICQR2MSE), 2012 International Conference on, pp. 122 – 1126, Chengdu, 15-18 June 2012.
• A. BAZERGHI, A. A. GOLDENBERG, and J. APKARIAN, ” An Exact Kinematic Model of PUMA 600 Manipulator”, IEEE TRANSACTIONS ON SYSTEMS, MAN, and CYBERNETICS, VOL. SMc-14, No.3, pp. 483-487MAY/JUNE 1984
• C.S.G. LEE, M. ZIEGLER, “Geometric approach in solving inverse Kinematics of PUMA robots”, IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. AES-20, NO. 6, pp.965-706, NOVEMBER 1984
• ANDREW A. GOLDENBERG, B. BENHABIB, and ROBERT G. FENTON, “A Complete Generalized Solution to the Inverse Kinematics of Robots”, IEEE JOURNAL OF ROBOTICS AND AUTOMATION, VOL. RA-1, NO. 1, pp. 14-20, MARCH 1985.
• VICTOR LOVASS-NAGY, SENIOR and R. J. SCHILLING, “Control of Kinematically Redundant Robots Using (1)-Inverses”, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. SMC-17, NO. 4, p.p 644-649, JULY/AUGUST 1987.
• Pyung H. Chang, “A Closed-Form Solution for Inverse Kinematics of Robot Manipulators with Redundancy”, IEEE JOURNAL OF ROBOTICS AND AUTOMATION, VOL. RA-3, NO. 5,p.p 393-403 OCTOBER 1987.
• VASSILIOS D. TOURASSIS and CHARLES P. NEUMAN, “Inverse Dynamics Applications of Discrete Robot Models”, IEEE TRANSACTIONS ON SYSTEMS, MAN, AND CYBERNETICS, VOL. SMC-15, NO. 6, pp. 798-803, NOVEMBER/DECEMBER 1985
• VlJAY KUMAR and JOHN F GARDNER, “Kinematics of Redundantly Actuated Closed Chains”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL 6. NO 7 . pp. 269-274 APRIL 1990.
• CHI-HAUR WU and KUU-YOUNG YOUNG, “An Efficient Solution of Differential Inverse Kinematics Problem for Wrist-Partitioned Robots”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 6, NO. 1, pp.117-123, FEBRUARY 1990.
• ZORAN R. NOVAKOVIC AND BOJAN NEMEC, “A Solution of the Inverse Kinematics Problem Using the Sliding Mode”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION. VOL 6. NO 2, pp. 247-252, APRIL 1990.
• Li-Chun Tomy Wang and Chih Cheng Chen, “A Combined Optimization Method for Solving the Inverse Kinematics Problem of Mechanical Manipulators”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. I , NO. 4, pp. 489-499, AUGUST 1991
• Toyosaku Isobe, Kengo Nagasaka, and Shinji Yainamoto, “A New Approach to Kinematic Control of Simple Manipulators”, EEL TRANSAClIONS Oh SYSTEMS, MAN, AND LYBEKNbIlCS, VOL 22, NO 5, pp. 1116-1124, SEPTEMBEWOCTOBER 1992.
• Gregory Z. GrudiE and Peter D. Lawrence, “Iterative Inverse Kinematics witb Manipulator Configuration Control”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 9, NO. 4, pp. 476-483, AUGUST 1993.
• Kevan A. Buckley, Simon H. Hopkins and Brian C. H. Turton, “Solution Of Inverse Kinematics Problems Of A Highly Kinematically Redundant Manipulator Using Genetic Algorithms”, Genetic Algorithms in Engineering Systems: Innovations and Applications, 2-4 September 1997, Conference Publication No. 446, pp. 264-269, IEEE, 1997.
• F. Chapelle, P. Bidaud, “A Closed Form for Inverse Kinematics Approximation of General 6R Manipulators using Genetic Programming”, Proceedings of the 2001 IEEE International Conference on Robotics & Automation Seoul, Korea. pp. 3364-3369, May 21-26, 2001.
• YONG-GUI ZHANG, W-ME1 HUANG, YI-ZHONG LIN, XIANG CHENG, FENG GAO, “AN APPROACH FOR ROBOT INVERSE VELOCITY SOLUTION USING GENETIC ALGORITHM”, Proceedings of the Third International Conference on Machine Learning and Cybernetics, pp. 2944-2948, Shanghai, 26-29 August 2004.
• P.Kalra and Neelam Rup Prakash, “A Neuro-genetic Algorithm Approach for Solving the Inverse Kinematics of Robotic Manipulators”, Systems, Man and Cybernetics, 2003. IEEE International Conference on Volume:2, pp. 1979 – 1984, IEEE, 5-8 Oct. 2003.
• Marija Tomic, Branko Miloradovic and Marija Jankovic, “Connectionist-Genetic Based Algorithm for Positioning Industrial Manipulator”, 11th Symposium on Neural Network application in electrical engineering, NEUREL, pp. 59-64, September 2012.
• Rahul R Kumar, Praneel Chand, “Inverse Kinematics Solution for Trajectory Tracking using Artificial Neural Networks for SCORBOT ER-4u”, Proceedings of the 6th International Conference on Automation, Robotics and Applications, pp.364-369, Feb 17-19, 2015, Queenstown, New Zealand.
• Claudiu Radu Pozna, Ernő Horváth, János Hollósi, “The inverse kinematics problem, a heuristical approach”, SAMI 2016 • IEEE 14th International Symposium on Applied Machine Intelligence and Informatics, pp. 299-304, January 21-23, 2016 • Herl’any, Slovakia.
• Dániel András Drexler,” Solution of the closed-loop inverse kinematics algorithm using the Crank-Nicolson method”, SAMI 2016 • IEEE 14th International Symposium on Applied Machine Intelligence and Informatics, pp. 351-356, January 21-23, 2016 • Herl’any, Slovakia
• Z. W. Geem, J. H. Kim, and G. V. Loganathan, “A new heuristic optimization algorithm: Harmony Search,” Simulation, vol. 76, no.2, pp. 60-68, 2001.
• Zaid Abdi Alkareem Y.A., Ibrahim Venkat, Mohammed Azmi Al-Betar and Ahamad Tajudin Khader, “Edge preserving image enhancement via Harmony”, IEEE. 2012 4th Conference on Data Mining and Optimization 02-04 Sep.2012, Langkawi, Malaysia.pp 47-51.
• He Xu, Zhenyu Zhang and Dawei Tan, Xiaozhi Gao, Gaoliang Peng and Shuanghe Yu. “Optimization of Mobile Robot Based on Projection Method and Harmony Search”. Proceedings of the 2008 IEEEInternational Conference on Robotics and Biomimetics, Bangkok, Thailand, pp 1653-1658. February 2009.
• Z. W. Geem, J. H. Kim, and G. V. Loganathan, “Harmony search optimization: application to pipe network design,” International Journal of Modeling and Simulation, vol. 22, no. 2, pp. 125-133, 2002.