A 7DOF redundant robotic arm inverse kinematic solution algorithm based on Bald Eagle swarm intelligent optimization algorithm

• DOI: 10.21203/rs.3.rs-2333928/v1
• Publication Date: 2022-12-15T08:35:32Z
• Authors: Guojun Zhao; Ying Sun; Du Jiang; Xin Liu; Bo Tao; Guozhang Jiang; Jianyi Kong; Juntong Yun; Ying Liu; Gongfa Li
• Keywords: Position (finance)

Abstract Solving the robot inverse kinematic solution is key to subsequent path planning and trajectory tracking control of robot, which great research significance. The redundant robotic arm a challenge because parsing cannot be obtained by conventional method. swarm intelligent optimization algorithm widely used in problem arms converting into minimum value fitness function, avoiding tedious process traditional solution. This paper innovatively applies bald eagle (BES algorithm) motion 7DOF for first time. BES simulates prey hunting eagles nature consists three main phases: selection phase, search dive phase. In these phases, updates joint angles sought using different strategies, obtains high accuracy position values bringing positive expression arm. article takes YuMi 14000 ABB industrial S-R-S humanoid as objects, experimentally compared with intelligence algorithms DE algorithm, FA FOA GA PSO terms solving accuracy. experimental results show that has higher stability other algorithms.