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Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics
dc.creator | Zivković, Nikola Lj. | |
dc.creator | Vidaković, Jelena | |
dc.creator | Lazarević, Mihailo | |
dc.date.accessioned | 2023-01-29T20:06:51Z | |
dc.date.available | 2023-01-29T20:06:51Z | |
dc.date.issued | 2021 | |
dc.identifier.isbn | 978-86-6060-077-8 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4089 | |
dc.description.abstract | Newton-Raphson method is a deterministic numerical method for solving a system of nonlinear equations. In robotics, it is used to solve inverse kinematics problems. In order to converge towards the optimal solution, the Newton-Raphson method requires a good initial value guess, which can be challenging to obtain. The Particle Swarm Optimization (PSO) algorithm is a stochastic optimization technique for solving nonlinear problems. The advantage of the PSO, in this case, is its ability to search a large amount of data. The PSO can narrow down potential solutions close to the optimal solution and use them as an initial guess for the Newton-Raphson method. Then, the Newton-Raphson method takes over and converges towards the desired optimal solution. In this paper, the feasibility of the hybrid PSO-Newton-Raphson algorithm for solution of robot inverse kinematics problem is investigated for a six-degree of freedom robot arm. All six joints of the robot arm are revolute. The cost function for the PSO algorithm is formed as a function of error between the desired and actual position of the robot arm end-effector. The numerical simulation is carried out to verify the applicability of the proposed concept. | sr |
dc.language.iso | en | sr |
dc.publisher | Beograd : Inovacioni centar Masinskog fakulteta | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200105/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/inst-2020/200066/RS// | sr |
dc.rights | restrictedAccess | sr |
dc.rights.uri | https://creativecommons.org/share-your-work/public-domain/cc0/ | |
dc.source | Book of abstracts, International Conference of Experimental and Numerical Investigations and New Technologies CNN TECH 2021 46 | sr |
dc.subject | Inverse kinematics | sr |
dc.subject | particle swarm optimization | sr |
dc.subject | robot | sr |
dc.subject | nonlinear numerical method | sr |
dc.title | Hybrid pso-newton-raphson algorithm for inverse kinematics problem in robotics | sr |
dc.type | conferenceObject | sr |
dc.rights.license | ARR | sr |
dc.citation.epage | 46 | |
dc.citation.rank | M34 | |
dc.citation.spage | 46 | |
dc.description.other | [http://cnntechno.com/docs/5_CNN_book_of_abstracts.pdf] | sr |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4089 | |
dc.type.version | publishedVersion | sr |