SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM
To solve problems of heavy calculation burden and low solution accuracy for redundant robot in inverse kinematics problem,a solution method based on improved fruit fly optimization algorithm（IFOA） was proposed. On the basis of FOA,the evolutionary equation is optimized by adding an improved strategy...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2020-01-01
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| Series: | Jixie qiangdu |
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| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2020.04.019 |
| _version_ | 1797767653638537216 |
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| author | YANG Shuai |
| author_facet | YANG Shuai |
| author_sort | YANG Shuai |
| collection | DOAJ |
| description | To solve problems of heavy calculation burden and low solution accuracy for redundant robot in inverse kinematics problem,a solution method based on improved fruit fly optimization algorithm（IFOA） was proposed. On the basis of FOA,the evolutionary equation is optimized by adding an improved strategy of learning worst individuals. The ability of the IFOA to break away from the local optimum and to find the global optimum is greatly enhanced. Experimental results of several typical functions show that IFOA has better global search ability,faster speed,higher accuracy and reliability,compared with FOA. In the application of inverse kinematics problem of the redundant robot,the accuracy,speed and stability were improved effectively,and is thus applicable to solve the inverse kinematics problem of redundant robot. |
| first_indexed | 2024-03-12T20:42:57Z |
| format | Article |
| id | doaj.art-436fbf8343224839a4b19793b6ffef4e |
| institution | Directory Open Access Journal |
| issn | 1001-9669 |
| language | zho |
| last_indexed | 2024-03-12T20:42:57Z |
| publishDate | 2020-01-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj.art-436fbf8343224839a4b19793b6ffef4e2023-08-01T07:51:41ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692020-01-014288388930608399SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHMYANG ShuaiTo solve problems of heavy calculation burden and low solution accuracy for redundant robot in inverse kinematics problem,a solution method based on improved fruit fly optimization algorithm（IFOA） was proposed. On the basis of FOA,the evolutionary equation is optimized by adding an improved strategy of learning worst individuals. The ability of the IFOA to break away from the local optimum and to find the global optimum is greatly enhanced. Experimental results of several typical functions show that IFOA has better global search ability,faster speed,higher accuracy and reliability,compared with FOA. In the application of inverse kinematics problem of the redundant robot,the accuracy,speed and stability were improved effectively,and is thus applicable to solve the inverse kinematics problem of redundant robot.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2020.04.019Fruit fly optimization algorithm;Improved strategy;Redundant robot;Inverse kinematics problem |
| spellingShingle | YANG Shuai SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM Jixie qiangdu Fruit fly optimization algorithm;Improved strategy;Redundant robot;Inverse kinematics problem |
| title | SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM |
| title_full | SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM |
| title_fullStr | SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM |
| title_full_unstemmed | SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM |
| title_short | SOLVING INVERSE KINEMATICS PROBLEM OF REDUNDANT ROBOT BASED ON IMPROVED FRUIT FLY OPTIMIZTION ALGORITHM |
| title_sort | solving inverse kinematics problem of redundant robot based on improved fruit fly optimiztion algorithm |
| topic | Fruit fly optimization algorithm;Improved strategy;Redundant robot;Inverse kinematics problem |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2020.04.019 |
| work_keys_str_mv | AT yangshuai solvinginversekinematicsproblemofredundantrobotbasedonimprovedfruitflyoptimiztionalgorithm |