Optimizing cotton‐picking robotic manipulator and inverse kinematics modeling using evolutionary algorithm‐assisted artificial neural network
Naseeb Singh,
Virendra Kumar Tewari,
Prabir Kumar Biswas
et al.
Abstract:This study presents a particle swarm optimization (PSO) algorithm‐assisted neural‐network‐based inverse kinematics solution for a 4‐DoF (degree‐of‐freedom) cotton harvesting robot. A novel setup was developed to measure the three‐dimensional locations of in‐field cotton bolls. Dimensional optimization of the manipulator was conducted using the PSO algorithm to minimize torque requirements at joints. With the optimized links’ lengths, the targeted end‐effector positions were achieved effectively (coefficient of… Show more
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