Inverse kinematics of mobile manipulators based on differential evolution

The solution of the inverse kinematics of mobile manipulators is a fundamental capability to solve problems such as path planning, visual-guided motion, object grasping, and so on. In this article, we present a metaheuristic approach to solve the inverse kinematic problem of mobile manipulators. In this approach, we represent the robot kinematics using the Denavit–Hartenberg model. The algorithm is able to solve the inverse kinematic problem taking into account the mobile platform. The proposed approach is able to avoid singularities configurations, since it does not require the inversion of a Jacobian matrix. Those are two of the main drawbacks to solve inverse kinematics through traditional approaches. Applicability of the proposed approach is illustrated using simulation results as well as experimental ones using an omnidirectional mobile manipulator.

[1]  Zhenhua Wang,et al.  A hybrid biogeography-based optimization method for the inverse kinematics problem of an 8-DOF redundant humanoid manipulator , 2015, Frontiers of Information Technology & Electronic Engineering.

[2]  Ching-Hung Lee,et al.  Efficient collision-free path-planning of multiple mobile robots system using efficient artificial bee colony algorithm , 2015, Adv. Eng. Softw..

[3]  Shao Jiao Lv,et al.  A method for solving inverse kinematics of PUMA560 manipulator based on PSO-RBF network , 2012, 2012 8th International Conference on Natural Computation.

[4]  Li Chunguang,et al.  Minimum-Acceleration Trajectory Optimization for Humanoid Manipulator Based on Differential Evolution , 2016 .

[5]  Ville Tirronen,et al.  Recent advances in differential evolution: a survey and experimental analysis , 2010, Artificial Intelligence Review.

[6]  Mamoru Minami,et al.  Analyses on on-line evolutionary optimization performance for pose tracking while eye-vergence visual servoing , 2013, 2013 IEEE International Conference on Mechatronics and Automation.

[7]  Mohd Fauzi Othman,et al.  Global Path Planning for Autonomous Mobile Robot Using Genetic Algorithm , 2013, 2013 International Conference on Signal-Image Technology & Internet-Based Systems.

[8]  Vimal J. Savsani,et al.  Comparative Study of Different Metaheuristics for the Trajectory Planning of a Robotic Arm , 2016, IEEE Systems Journal.

[9]  Hitoshi Iba,et al.  An Evolutionary Computational Approach to Humanoid Motion Planning , 2012 .

[10]  Rob Dekkers,et al.  Control of Robot Manipulators in Joint Space , 2005 .

[11]  Rainer Storn,et al.  Differential Evolution – A Simple and Efficient Heuristic for global Optimization over Continuous Spaces , 1997, J. Glob. Optim..

[12]  Bruno Siciliano,et al.  Modeling and Control of Robot Manipulators , 1995 .

[13]  Karnan,et al.  A Survey on Application of Bio-Inspired Algorithms , 2014 .

[14]  Dayal R. Parhi,et al.  Optimal path planning for a mobile robot using cuckoo search algorithm , 2016, J. Exp. Theor. Artif. Intell..

[15]  Huosheng Hu,et al.  Motion Planning for a Mobile Manipulator with Redundant DOFs , 2005 .

[16]  Edgar Alfredo Portilla-Flores,et al.  Kinematic Dexterity Maximization of an Omnidirectional Wheeled Mobile Robot: A Comparison of Metaheuristic and SQP Algorithms , 2012 .

[17]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[18]  Roland Siegwart,et al.  Introduction to Autonomous Mobile Robots , 2004 .

[19]  D. Wiesmann,et al.  Evolutionary Optimization Algorithms in Computational Optics , 1999 .

[20]  Yohannes Kassahun,et al.  Learning Neural Networks for Visual Servoing Using Evolutionary Methods , 2006, 2006 Sixth International Conference on Hybrid Intelligent Systems (HIS'06).

[21]  Fumio Miyazaki,et al.  A stable tracking control method for an autonomous mobile robot , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[22]  John J. Craig Zhu,et al.  Introduction to robotics mechanics and control , 1991 .

[23]  Gao Chao,et al.  Motion Planning for Humanoid Robot Based on Hybrid Evolutionary Algorithm , 2010 .

[24]  Joono Cheong.  A consistent kinematic modeling method for mobile manipulators , 2010, 2010 11th International Conference on Control Automation Robotics & Vision.

[25]  Ze Cui,et al.  Trajectory planning for a redundant mobile manipulator using avoidance manipulability , 2009, 2009 IEEE International Conference on Automation and Logistics.

[26]  Ching-Chih Tsai,et al.  Particle swarm optimization algorithm for optimal configurations of an omnidirectional mobile service robot , 2010, Proceedings of SICE Annual Conference 2010.

[27]  Haibin Duan,et al.  Three-dimension path planning for UCAV using hybrid meta-heuristic ACO-DE algorithm , 2010, Simul. Model. Pract. Theory.

[28]  Dimitris K. Tasoulis,et al.  Parallel differential evolution , 2004, Proceedings of the 2004 Congress on Evolutionary Computation (IEEE Cat. No.04TH8753).

[29]  Wei Lin,et al.  Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization , 2016, 2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).

[30]  Daoping Huang,et al.  Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics , 2015 .

[31]  Pierre Courrieu,et al.  Fast Computation of Moore-Penrose Inverse Matrices , 2008, ArXiv.

[32]  Yanli Du,et al.  Application of IPSO algorithm to inverse kinematics solution of reconfigurable modular robots , 2011, 2011 International Conference on Mechatronic Science, Electric Engineering and Computer (MEC).

[33]  Ching-Chih Tsai,et al.  Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots , 2011, 2011 9th World Congress on Intelligent Control and Automation.

[34]  Sunil Kumar Kashyap,et al.  On firefly algorithm: optimization and application in mobile robot navigation , 2017 .

[35]  Minglu Zhang,et al.  The kinematics analysis of a redundant mobile manipulator , 2008, 2008 IEEE International Conference on Automation and Logistics.

[36]  V. W. Porto.  Evolutionary programming VII : 7th International Conference, EP98, San Diego, California, USA, March 25-27, 1998 : proceedings , 1998 .

[37]  Slaven Glumac,et al.  Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots , 2013, 2013 IEEE International Conference on Systems, Man, and Cybernetics.

[38]  Ching-Chih Tsai,et al.  FPGA-Based Parallel DNA Algorithm for Optimal Configurations of an Omnidirectional Mobile Service Robot Performing Fire Extinguishment , 2011, IEEE Transactions on Industrial Electronics.

[39]  Kerim Çetinkaya,et al.  Comparison of four different heuristic optimization algorithms for the inverse kinematics solution of a real 4-DOF serial robot manipulator , 2015, Neural Computing and Applications.

[40]  Pei-Ru Wang,et al.  Particle swarm optimization for solving the inverse kinematics of 7-DOF robotic manipulators , 2012, 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC).