A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots

Jesus Hernandez-Barragan, Gabriel Martinez-Soltero, Jorge D. Rios, Carlos Lopez-Franco and Alma Y. Alanis ()
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Jesus Hernandez-Barragan: Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico
Gabriel Martinez-Soltero: Departamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico
Jorge D. Rios: Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico
Carlos Lopez-Franco: Departamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico
Alma Y. Alanis: Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico

Mathematics, 2022, vol. 10, issue 21, 1-23

Abstract: This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA ® Youbot ® robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.

Keywords: inverse kinematics; metaheuristic optimization; mobile dual-arm system; coordinated manipulation (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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