Date of Award
Level of Access Assigned by Author
Master of Science (MS)
Second Committee Member
Third Committee Member
In robotics, the solutions to the inverse kinematics equations of open-chain articulated robotic manipulators require solving a set of 12 trigonometric transcendental equations which often posses multiple non-unique solutions. Closed form analytic solutions to the inverse kinematics equations are often time consuming to derive and are specific to a particular robotic geometry. In this thesis, a numerical algorithm using particle swarm optimization (PSO) is utilized to obtain solutions of the inverse kinematics equations for robotic manipulators. The solution method uses a constricted global topology PSO algorithm to obtain an approximate solution to the problem and then utilizes a damped least squares algorithm (DLS) to further refine the final solution. The various tuning parameters and their individual effects on the algorithm are also discussed, and experimental results performed on simulations of some common robotic manipulator configurations are also presented.
Prince, Scott, "A Numerical Solution Method for the Inverse Robotic Kinematics Problem Using Particle Swarm Optimization" (2010). Electronic Theses and Dissertations. 740.