A method that can obtain an optimal hitting configuration of the 8-DOF manipulator for flying ball is proposed. In this method, the position and orientation of the end-effector are firstly determined, and an analytic inverse kinematic solution of the manipulator is derived. Then, an ‘away limitation level’ of the manipulator constituted the objective function, and a teaching-learning-based optimization (TLBO) algorithm is used to optimize the redundant parameters. This method can solve the hitting configuration optimum problem of the humanoid manipulator according to the center position and its Cartesian velocity direction of the end-effector. Simulation results demonstrate the effectiveness of this method.
An Optimal Configuration Solution of 8-DOF Redundant Manipulator for Flying Ball
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
16.10.2023
12 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
8-DOF Humanoid Manipulator , Inverse kinematics , Geometrical Method , Teaching-learning-based Optimization Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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