Hybrid Mutation Fruit Fly Optimization Algorithm for Solving the Inverse Kinematics of a Redundant Robot Manipulator

Jianping Shi, Yuting Mao, Peishen Li, Guoping Liu, Peng Liu, Xianyong Yang and Dahai Wang

Mathematical Problems in Engineering, 2020, vol. 2020, 1-13

Abstract:

The inverse kinematics of redundant manipulators is one of the most important and complicated problems in robotics. Simultaneously, it is also the basis for motion control, trajectory planning, and dynamics analysis of redundant manipulators. Taking the minimum pose error of the end-effector as the optimization objective, a fitness function was constructed. Thus, the inverse kinematics problem of the redundant manipulator can be transformed into an equivalent optimization problem, and it can be solved using a swarm intelligence optimization algorithm. Therefore, an improved fruit fly optimization algorithm, namely, the hybrid mutation fruit fly optimization algorithm (HMFOA), was presented in this work for solving the inverse kinematics of a redundant robot manipulator. An olfactory search based on multiple mutation strategies and a visual search based on the dynamic real-time updates were adopted in HMFOA. The former has a good balance between exploration and exploitation, which can effectively solve the premature convergence problem of the fruit fly optimization algorithm (FOA). The latter makes full use of the successful search experience of each fruit fly and can improve the convergence speed of the algorithm. The feasibility and effectiveness of HMFOA were verified by using 8 benchmark functions. Finally, the HMFOA was tested on a 7-degree-of-freedom (7-DOF) manipulator. Then the results were compared with other algorithms such as FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA. The pose error of end-effector corresponding to the optimal inverse solution of HMFOA is  mm, while the pose errors obtained by FOA, LGMS-FOA, AE-LGMS-FOA, IFOA, and SFOA are  mm,  mm,  mm,  mm, and  mm, respectively. The experimental results show that HMFOA can be used to solve the inverse kinematics problem of redundant manipulators effectively.

Date: 2020
References: Add references at CitEc
Citations:

Downloads: (external link)
http://downloads.hindawi.com/journals/MPE/2020/6315675.pdf (application/pdf)
http://downloads.hindawi.com/journals/MPE/2020/6315675.xml (text/xml)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:hin:jnlmpe:6315675

DOI: 10.1155/2020/6315675

Access Statistics for this article

More articles in Mathematical Problems in Engineering from Hindawi
Bibliographic data for series maintained by Mohamed Abdelhakeem ().