Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm
To improve the accuracy of common intelligent algorithms when identifying the parameters of geometric error in medical robots, this paper proposes an improved beetle antennae search algorithm (RWSAVSBAS). We first establish a model for the kinematic error in medical robots, and then add the random w...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-01-01
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| Series: | Bioengineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2306-5354/9/2/58 |
| _version_ | 1797482686587076608 |
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| author | Bin Kou Dongcheng Ren Shijie Guo |
| author_facet | Bin Kou Dongcheng Ren Shijie Guo |
| author_sort | Bin Kou |
| collection | DOAJ |
| description | To improve the accuracy of common intelligent algorithms when identifying the parameters of geometric error in medical robots, this paper proposes an improved beetle antennae search algorithm (RWSAVSBAS). We first establish a model for the kinematic error in medical robots, and then add the random wandering behavior of the wolf colony algorithm to the search process of the beetle antennae search algorithm to strengthen its capability for local search. Following this, we improve the global convergence ability of the beetle antennae search algorithm by using the simulated annealing algorithm. We compare the accuracy of end positioning of the proposed algorithm with the frog-jumping algorithm and the beetle antennae search algorithm with variable step length through simulations. The results show that the proposed algorithm has a higher accuracy of convergence, and can significantly improve the accuracy of end positioning of the medical robot. |
| first_indexed | 2024-03-09T22:36:04Z |
| format | Article |
| id | doaj.art-b6a54f69ed1c4862a2a3a5ff6a75398a |
| institution | Directory Open Access Journal |
| issn | 2306-5354 |
| language | English |
| last_indexed | 2024-03-09T22:36:04Z |
| publishDate | 2022-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Bioengineering |
| spelling | doaj.art-b6a54f69ed1c4862a2a3a5ff6a75398a2023-11-23T18:48:26ZengMDPI AGBioengineering2306-53542022-01-01925810.3390/bioengineering9020058Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search AlgorithmBin Kou0Dongcheng Ren1Shijie Guo2Academy for Engineering and Technology, Fudan University, Shanghai 200433, ChinaAcademy for Engineering and Technology, Fudan University, Shanghai 200433, ChinaAcademy for Engineering and Technology, Fudan University, Shanghai 200433, ChinaTo improve the accuracy of common intelligent algorithms when identifying the parameters of geometric error in medical robots, this paper proposes an improved beetle antennae search algorithm (RWSAVSBAS). We first establish a model for the kinematic error in medical robots, and then add the random wandering behavior of the wolf colony algorithm to the search process of the beetle antennae search algorithm to strengthen its capability for local search. Following this, we improve the global convergence ability of the beetle antennae search algorithm by using the simulated annealing algorithm. We compare the accuracy of end positioning of the proposed algorithm with the frog-jumping algorithm and the beetle antennae search algorithm with variable step length through simulations. The results show that the proposed algorithm has a higher accuracy of convergence, and can significantly improve the accuracy of end positioning of the medical robot.https://www.mdpi.com/2306-5354/9/2/58beetle antennae search algorithmrandom wanderingmedical robotlocalization accuracy |
| spellingShingle | Bin Kou Dongcheng Ren Shijie Guo Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm Bioengineering beetle antennae search algorithm random wandering medical robot localization accuracy |
| title | Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm |
| title_full | Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm |
| title_fullStr | Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm |
| title_full_unstemmed | Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm |
| title_short | Geometric Parameter Identification of Medical Robot Based on Improved Beetle Antennae Search Algorithm |
| title_sort | geometric parameter identification of medical robot based on improved beetle antennae search algorithm |
| topic | beetle antennae search algorithm random wandering medical robot localization accuracy |
| url | https://www.mdpi.com/2306-5354/9/2/58 |
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