PSO Based Solution for 6-DOF Serial Manipulator Inverse Kinematics Problem

Document Type : Original Article


1 Mechatronics Engineering, Faculty of new sciences and technologies, University of Tehran,Tehran, Iran

2 Mechatronic Engineering Group, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran


This paper introduces an optimization technique based on the particle swarm optimization algorithm (PSO) for solving the inverse kinematics problem for an n-DOF manipulator. The proposed algorithm trying iteratively to find the best set of angles that locus the manipulator at the desired position and orientation. Each iteration, a set of angles are assigned to the joints and derived to calculate the position and orientation of the end-effector using Denavit-Hartenberg (DH) method and Euler angles equations. Then obtaining the error between the current position/orientation (P_c/O_c) of the end-effector with the desired position/orientation (P_d/O_d). A 6-DOF manipulator has been used as an example in our simulation. Obtained results show that PSO can be efficiently used for inverse kinematics solution.


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