EMSA-IK: a real-time evolutionary multi-objective semi-analytical inverse kinematics algorithm for redundant manipulators
Abstract
Purpose
This paper aims to propose a real-time evolutionary multi-objective semi-analytical inverse kinematics (IK) algorithm (EMSA-IK) for solving the multi-objective IK of redundant manipulators.
Design/methodology/approach
Within EMSA-IK, the parameterization method is applied to reduce the number of optimization variables of the evolutionary algorithm and calculate semi-analytical solutions that meet high target pose accuracy. The original evolutionary algorithm is improved with the proposed adaptive search sub-space strategy so that the improved evolutionary algorithm can be used to efficiently perform global search within the parametric joint space to obtain the global optimal parametric joint angles that satisfy multi-objective constraints.
Findings
Ablation experiments show the effectiveness of the improved strategy used for evolutionary algorithms. Comparative experiments on different manipulators demonstrate the advantages of EMSA-IK in terms of generalizability and balancing multiple objectives, for example, motion continuity, joint limits and obstacle avoidance. Real-world experiments further validate the effectiveness of the proposed algorithm for real-time application.
Originality/value
The semi-analytical IK solution that simultaneously satisfies high target pose accuracy and multi-objective constraints can be obtained in real time. Compared to existing semi-analytical IK algorithms, the proposed algorithm achieves obstacle avoidance for the first time. The proposed algorithm demonstrates superior generalizability, applicable to not only redundant manipulators with revolute joints but also those with prismatic joints.
Keywords
Acknowledgements
Declarations.
Funding: This work is supported by the Self-Planned Task (No. SKLRS202204B) of State Key Laboratory of Robotics and System (HIT) and the National Natural Science Foundation of China (Grant No. 51875114).
Conflicts of interest: The authors declare that they have no conflict of interest.
Availability of data and material: Not applicable.
Code availability: Not applicable.
Authors' contributions:
Conceptualization, Methodology, Formal analysis and investigation: [Fenglei Ni and Zhaoyang Chen].
Writing – original draft preparation: [Zhaoyang Chen].
Writing – review and editing: [Zhaoyang Chen, Kang Min, Xinyang Fan and Baoxu Tu].
Funding acquisition: [Fenglei Ni].
Resources: [Fenglei Ni and Hong Liu].
Supervision: [Fenglei Ni].
Citation
Chen, Z., Min, K., Fan, X., Tu, B., Ni, F. and Liu, H. (2024), "EMSA-IK: a real-time evolutionary multi-objective semi-analytical inverse kinematics algorithm for redundant manipulators", Industrial Robot, Vol. ahead-of-print No. ahead-of-print. https://doi.org/10.1108/IR-08-2024-0355
Publisher
:Emerald Publishing Limited
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