Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms

المؤلفون المشاركون

Hsu, Huan-Shiuan
Huang, Hsu-Chih
Xu, Sendren Sheng-Dong

المصدر

Mathematical Problems in Engineering

العدد

المجلد 2014، العدد 2014 (31 ديسمبر/كانون الأول 2014)، ص ص. 1-9، 9ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2014-07-22

دولة النشر

مصر

عدد الصفحات

9

التخصصات الرئيسية

هندسة مدنية

الملخص EN

This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA) swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF) humanoid robot arms.

The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions.

The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application.

The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently.

This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing.

Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods.

This Taguchi-based DNA (TDNA) solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA) solver and ant, colony optimization (ACO) solver.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Huang, Hsu-Chih& Xu, Sendren Sheng-Dong& Hsu, Huan-Shiuan. 2014. Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-465603

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Huang, Hsu-Chih…[et al.]. Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-465603

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Huang, Hsu-Chih& Xu, Sendren Sheng-Dong& Hsu, Huan-Shiuan. Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-465603

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-465603