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A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots

Author

Listed:
  • Jesus Hernandez-Barragan

    (Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Gabriel Martinez-Soltero

    (Departamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Jorge D. Rios

    (Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Carlos Lopez-Franco

    (Departamento de Ciencias Computacionales, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico)

  • Alma Y. Alanis

    (Departamento de Innovación Basada en la Información y el Conocimiento, Centro Universitario de Ciencias Exactas e Ingenierías, Universidad de Guadalajara, Guadalajara 44430, Mexico)

Abstract

This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis of a mobile dual-arm robot is presented. Second, an objective function is formulated based on the forward kinematics equations. The kinematic analysis does not require using any Jacobian matrix nor its estimation; for this reason, the proposed approach does not suffer from singularities, which is a common problem with conventional inverse kinematics algorithms. Moreover, the proposed method solves cooperative manipulation tasks, especially in the case of coordinated manipulation. Simulation and real-world experiments were performed to verify the proposal’s effectiveness under coordinated inverse kinematics and trajectory tracking tasks. The experimental setup considered a mobile dual-arm system based on the KUKA ® Youbot ® robot. The solution of the inverse kinematics showed precise and accurate results. Although the proposed approach focuses on coordinated manipulation, it can be implemented to solve non-coordinated tasks.

Suggested Citation

  • Jesus Hernandez-Barragan & Gabriel Martinez-Soltero & Jorge D. Rios & Carlos Lopez-Franco & Alma Y. Alanis, 2022. "A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots," Mathematics, MDPI, vol. 10(21), pages 1-23, November.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:21:p:4135-:d:964290
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    References listed on IDEAS

    as
    1. Carlos Lopez-Franco & Dario Diaz & Jesus Hernandez-Barragan & Nancy Arana-Daniel & Michel Lopez-Franco, 2022. "A Metaheuristic Optimization Approach for Trajectory Tracking of Robot Manipulators," Mathematics, MDPI, vol. 10(7), pages 1-23, March.
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