Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution
It is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic (IK) solution of a robotic arm is presented. Each...
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| Format: | Article |
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MDPI AG
2021-05-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/21/9/3171 |
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| author | Mohammad Soleimani Amiri Rizauddin Ramli |
| author_facet | Mohammad Soleimani Amiri Rizauddin Ramli |
| author_sort | Mohammad Soleimani Amiri |
| collection | DOAJ |
| description | It is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic (IK) solution of a robotic arm is presented. Each joint is controlled by Proportional–Integral–Derivative (PID) controller optimized with the Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), called Genetic–Swarm Optimization (GSO). GSO solves the IK of each joint while the dynamic model is determined by the Lagrangian. The tuning of the PID is defined as an optimization problem and is solved by PSO for the simulated model in a virtual environment. A Graphical User Interface has been developed as a front-end application. Based on the combination of hybrid optimal GSO and PID control, it is ascertained that the system works efficiently. Finally, we compare the hybrid optimal GSO with conventional optimization methods by statistic analysis. |
| first_indexed | 2024-03-10T11:44:49Z |
| format | Article |
| id | doaj.art-eeee8af9e3324f8ba7acd37352302185 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T11:44:49Z |
| publishDate | 2021-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-eeee8af9e3324f8ba7acd373523021852023-11-21T18:14:46ZengMDPI AGSensors1424-82202021-05-01219317110.3390/s21093171Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic SolutionMohammad Soleimani Amiri0Rizauddin Ramli1Department of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi 43600, Selangor, MalaysiaDepartment of Mechanical and Manufacturing Engineering, Faculty of Engineering and Built Environment, Universiti Kebangsaan Malaysia, Bangi 43600, Selangor, MalaysiaIt is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic (IK) solution of a robotic arm is presented. Each joint is controlled by Proportional–Integral–Derivative (PID) controller optimized with the Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), called Genetic–Swarm Optimization (GSO). GSO solves the IK of each joint while the dynamic model is determined by the Lagrangian. The tuning of the PID is defined as an optimization problem and is solved by PSO for the simulated model in a virtual environment. A Graphical User Interface has been developed as a front-end application. Based on the combination of hybrid optimal GSO and PID control, it is ascertained that the system works efficiently. Finally, we compare the hybrid optimal GSO with conventional optimization methods by statistic analysis.https://www.mdpi.com/1424-8220/21/9/3171robotic armGenetic AlgorithmParticle Swarm OptimizationPID control |
| spellingShingle | Mohammad Soleimani Amiri Rizauddin Ramli Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution Sensors robotic arm Genetic Algorithm Particle Swarm Optimization PID control |
| title | Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution |
| title_full | Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution |
| title_fullStr | Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution |
| title_full_unstemmed | Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution |
| title_short | Intelligent Trajectory Tracking Behavior of a Multi-Joint Robotic Arm via Genetic–Swarm Optimization for the Inverse Kinematic Solution |
| title_sort | intelligent trajectory tracking behavior of a multi joint robotic arm via genetic swarm optimization for the inverse kinematic solution |
| topic | robotic arm Genetic Algorithm Particle Swarm Optimization PID control |
| url | https://www.mdpi.com/1424-8220/21/9/3171 |
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