Кинематическое решение для манипулятора беспилотного летательного аппарата на основе модифицированного алгоритма прыжка лягушки

I N Ibrahim

doi:10.22213/2413-1172-2018-4-28-34

Authors

I. N. Ibrahim Kalashnikov ISTU

DOI:

https://doi.org/10.22213/2413-1172-2018-4-28-34

Keywords:

inverse kinematics, metaheuristics methods, evolutionary algorithms, techniques, shuffled frog-leaping algorithm

Abstract

This paper concentrates on deriving the real-time kinematics solution of a manipulator attached to an aerial vehicle, while the vehicle's movement itself is not analyzed. The manipulator kinematics solution using Denavit-Hartenberg model was introduced, too. The fundamental scope of this paper is to get a global online solution of the design configurations with a weighted objective function subject to some constraints. Adopting the resulted forward kinematics equations of the manipulator, the trajectory planning problem turns into an optimization task. Several and well-known computing methods are documented in the literature for solving constrained complicated nonlinear functions, where in this study a shuffled frog-leaping algorithm (SFLA) is suggested, which is one of the artificial intelligence techniques and regarded as a search method. It is a constrained metaheuristic and population-based approach. Moreover, it is able to solve the inverse kinematics problem considering the mobile platform, in addition to avoiding singularities, since it does not demand the inversion of a Jacobian matrix. Simulation experiments were carried out for the trajectory planning of a six degree-of-freedom (DOF) aerial manipulator, and the obtained results confirmed the feasibility and effectiveness of the suggested method.

Author Biography

I. N. Ibrahim, Kalashnikov ISTU

PhD Student

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