A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots
This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The k...
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| Format: | Article |
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MDPI AG
2022-11-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/10/21/4135 |
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| author | Jesus Hernandez-Barragan Gabriel Martinez-Soltero Jorge D. Rios Carlos Lopez-Franco Alma Y. Alanis |
| author_facet | Jesus Hernandez-Barragan Gabriel Martinez-Soltero Jorge D. Rios Carlos Lopez-Franco Alma Y. Alanis |
| author_sort | Jesus Hernandez-Barragan |
| collection | DOAJ |
| description | This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA<sup>®</sup> Youbot<sup>®</sup> robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks. |
| first_indexed | 2024-03-09T18:51:39Z |
| format | Article |
| id | doaj.art-266a5f3f7e3f470989399701950f9c4e |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-09T18:51:39Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-266a5f3f7e3f470989399701950f9c4e2023-11-24T05:45:25ZengMDPI AGMathematics2227-73902022-11-011021413510.3390/math10214135A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm RobotsJesus Hernandez-Barragan0Gabriel Martinez-Soltero1Jorge D. Rios2Carlos Lopez-Franco3Alma Y. Alanis4Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoDepartamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, MexicoThis work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA<sup>®</sup> Youbot<sup>®</sup> robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.https://www.mdpi.com/2227-7390/10/21/4135inverse kinematicsmetaheuristic optimizationmobile dual-arm systemcoordinated manipulation |
| spellingShingle | Jesus Hernandez-Barragan Gabriel Martinez-Soltero Jorge D. Rios Carlos Lopez-Franco Alma Y. Alanis A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots Mathematics inverse kinematics metaheuristic optimization mobile dual-arm system coordinated manipulation |
| title | A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots |
| title_full | A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots |
| title_fullStr | A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots |
| title_full_unstemmed | A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots |
| title_short | A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots |
| title_sort | metaheuristic optimization approach to solve inverse kinematics of mobile dual arm robots |
| topic | inverse kinematics metaheuristic optimization mobile dual-arm system coordinated manipulation |
| url | https://www.mdpi.com/2227-7390/10/21/4135 |
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