T-IK: An Efficient Multi-Objective Evolutionary Algorithm for Analytical Inverse Kinematics of Redundant Manipulator

Wu, Di; Hou, Guowei; Qiu, Wenjie; Xie, Bin

doi:10.1109/lra.2021.3108550

Cited by 16 publications

(8 citation statements)

References 24 publications

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“…This research employs laser radar to collect the information of the excavation surface because the tunnel has the characteristics of a complicated environment, a wide area, and gloomy light, which prevent general camera equipment from collecting the information of the excavation surface. Based on prior research [10][11] [12], the initial data acquired by LiDAR is a collection of discrete points. Subsequent to tunnel axis and steel arch extraction, the surface of the tunnel between two adjacent steel arches can be derived.…”

Section: Rasterization Of the Point Cloud And Extraction Of The Infor...mentioning

confidence: 99%

Trajectory planning algorithm and simulation of tunnel shotcrete robot

Hou

Qiu

Cheng

2023

Eighth International Conference on Electronic Technology and Information Science (ICETIS 2023)

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Currently, tunnel shotcrete operations are mainly completed through remote control of the shotcrete machine by operators, and the process is not automated or intelligent enough. To address this issue, we propose an automatic trajectory planning algorithm for tunnel shotcrete robots. The algorithm takes the cumulative thickness model of the shotcrete and information on the tunnel surface thickness as inputs, and discretizes the shotcrete process by rasterizing the tunnel surface. The algorithm's optimization objective is the shotcrete thickness, and we propose an improved gradient descent method to optimize the shotcrete velocity while optimizing the shotcrete path. To improve the algorithm's performance in multi-round shotcrete, we introduce the shotcrete time continuation strategy and the shotcrete path drift strategy. Simulation results demonstrate that the algorithm offers a shorter solution time and guarantees the smoothness of the tunnel surface.

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Section: Rasterization Of the Point Cloud And Extraction Of The Infor...mentioning

confidence: 99%

Trajectory planning algorithm and simulation of tunnel shotcrete robot

Hou

Qiu

Cheng

2023

Eighth International Conference on Electronic Technology and Information Science (ICETIS 2023)

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“…The results reveal that FPD-GWO has a significantly higher convergence accuracy than GWO; Dereli 75 proposed an modified WOA, ASI-WOA, which avoided the problems of sluggish convergence speed and frequent falling into local optimum, and evaluated the performance of ASI-WOA on the IK problem; Toz 76 proposed a vortex search algorithm based on chaotic mapping (CVS), and verified the performance of CVS on a 6-DOF series manipulator; Wu et al . 77 proposed an algorithm that combines the parameterization method with the T-IK method to address the IK problem in the position domain of redundant manipulators, and they tested the T-IK algorithm on an 8-DOF tunnel shotcrete robot. However, the posture of the end-effector is usually not considered in previous studies when solving IK problems, and the performance of solving accuracy, stability, and real-time performance of algorithms need to be further improved.…”

Section: Related Workmentioning

confidence: 99%

An equilibrium optimizer slime mould algorithm for inverse kinematics of the 7-DOF robotic manipulator

Yin

Luo

Zhou

et al. 2022

Sci Rep

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In order to solve the inverse kinematics (IK) of complex manipulators efficiently, a hybrid equilibrium optimizer slime mould algorithm (EOSMA) is proposed. Firstly, the concentration update operator of the equilibrium optimizer is used to guide the anisotropic search of the slime mould algorithm to improve the search efficiency. Then, the greedy strategy is used to update the individual and global historical optimal to accelerate the algorithm’s convergence. Finally, the random difference mutation operator is added to EOSMA to increase the probability of escaping from the local optimum. On this basis, a multi-objective EOSMA (MOEOSMA) is proposed. Then, EOSMA and MOEOSMA are applied to the IK of the 7 degrees of freedom manipulator in two scenarios and compared with 15 single-objective and 9 multi-objective algorithms. The results show that EOSMA has higher accuracy and shorter computation time than previous studies. In two scenarios, the average convergence accuracy of EOSMA is 10e−17 and 10e−18, and the average solution time is 0.05 s and 0.36 s, respectively.

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“…The CPABC utilized chaotic mapping to optimize the population distribution of the initial food source and avoided local optimum; Dereli [68] used the modified GWO, FPD-GWO, to solve the IK problem and compared it with GWO. The results reveal that FPD-GWO has a significantly higher convergence accuracy than GWO; Dereli [69] proposed an modified WOA, ASI-WOA, which avoided the problems of sluggish convergence speed and frequent falling into local optimum, and evaluated the performance of ASI-WOA on the IK problem; Toz [70] proposed a vortex search algorithm based on chaotic mapping (CVS), and verified the performance of CVS on a 6-DOF series manipulator; Wu et al [71] proposed a algorithm that combines the parameterization method with the T-IK method to address the IK problem in the position domain of redundant manipulators, and they tested the T-IK algorithm on an 8-DOF tunnel shotcrete robot. However, the posture of the endeffector is usually not considered in previous studies when solving IK problems, and the performance of solving accuracy, stability, and real-time performance of algorithms need to be further improved.…”

Section: Related Workmentioning

confidence: 99%

An Equilibrium Optimizer Slime Mould Algorithm For Inverse Kinematics Of The 7-DOF Robotic Manipulator

Yin

Luo

Zhou

et al. 2022

Preprint

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In order to solve the inverse kinematics (IK) of complex manipulators efficiently, a hybrid equilibrium optimizer slime mould algorithm (EOSMA) is proposed. Firstly, the concentration update operator of the equilibrium optimizer is used to guide the anisotropic search of the slime mould algorithm to improve the search efficiency. Then, the greedy strategy is used to update the individual and global historical optimal to accelerate the algorithm’s convergence. Finally, the random difference mutation operator is added to EOSMA to increase the probability of escaping from the local optimum. On this basis, a multi-objective version of EOSMA is proposed. Then, EOSMA and MOEOSMA are applied to the IK of the 7-DOF manipulator in two scenarios and compared with 15 single-objective and 3 multi-objective algorithms. The results show that EOSMA has higher accuracy and shorter computation time than previous studies. In two scenarios, the average convergence accuracy of EOSMA is 10e-17 and 10e-18, and the average solution time is 0.05s and 0.36s, respectively.

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T-IK: An Efficient Multi-Objective Evolutionary Algorithm for Analytical Inverse Kinematics of Redundant Manipulator

Cited by 16 publications

References 24 publications

Trajectory planning algorithm and simulation of tunnel shotcrete robot

Trajectory planning algorithm and simulation of tunnel shotcrete robot

An equilibrium optimizer slime mould algorithm for inverse kinematics of the 7-DOF robotic manipulator

An Equilibrium Optimizer Slime Mould Algorithm For Inverse Kinematics Of The 7-DOF Robotic Manipulator

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