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A Closed Loop Inverse Kinematics Solver Intended for Offline Calculation Optimized with GA

机译:用于离线计算的闭环逆运动学求解器,用GA优化

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摘要

This paper presents a simple approach to building a robotic control system. Instead of a conventional control system which solves the inverse kinematics in real-time as the robot moves, an alternative approach where the inverse kinematics is calculated ahead of time is presented. This approach reduces the complexity and code necessary for the control system. Robot control systems are usually implemented in low level programming language. This new approach enables the use of high level programming for the complex inverse kinematics problem. For our approach, we implement a program to solve the inverse kinematics, called the Inverse Kinematics Solver (IKS), in Java, with a simple graphical user interface (GUI) to load a file with desired end effector poses and edit the configuration of the robot using the Denavit-Hartenberg (DH) convention. The program uses the closed-loop inverse kinematics (CLIK) algorithm to solve the inverse kinematics problem. As an example, the IKS was set up to solve the kinematics for a custom built serial link robot. The kinematics for the custom robot is presented, and an example of input and output files is also presented. Additionally, the gain of the loop in the IKS is optimized using a GA, resulting in almost a 50% decrease in computational time.
机译:本文介绍了构建机器人控制系统的简单方法。而不是在机器人移动时实时解决逆运动学的传统控制系统,呈现了提前计算逆运动学的替代方法。该方法可降低控制系统所需的复杂性和代码。机器人控制系统通常以低级编程语言实现。这种新方法使得能够为复杂的反向运动学问题使用高级编程。对于我们的方法,我们实现了一个程序来解决逆运动学,称为逆运动学求解器(IK),在Java中,使用简单的图形用户界面(GUI)来加载具有所需末端执行器的文件姿势和编辑配置机器人使用Denavit-Hartenberg(DH)公约。该程序使用闭环逆运动学(CLIK)算法来解决反向运动学问题。例如,IK设置为解决自定义内置串行链路机器人的运动学。提出了自定义机器人的运动学,还呈现了输入和输出文件的示例。另外,使用GA优化IK中的循环的增益,导致计算时间几乎降低了50%。

著录项

  • 作者

    Emil Bjoerlykhaug;

  • 作者单位
  • 年度 2018
  • 总页数
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类

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