A hybrid solution for the inverse kinematic on a seven DOF robotic manipulator

E. Y. Veslin; M. S. Dutra; O. Lengerke; E. A. Carreño; M. J.M. Tavera

doi:10.1109/TLA.2014.6749540

A hybrid solution for the inverse kinematic on a seven DOF robotic manipulator

E. Y. Veslin, M. S. Dutra, O. Lengerke, E. A. Carreño, M. J.M. Tavera

Research output: Articles / Notes › Scientific Article › peer-review

15 Scopus citations

Abstract

This paper presents a solution for the inverse kinematics in a human arm kinematics model of seven degrees of freedom applying Genetic Algorithms in the shoulder joint and the Piper method in the whole arm in order to make the algorithm response faster and accurate. The Genetic Algorithm's code explores a set of initial solutions and optimizing it until find an angular answer that satisfies the positional and rotational restrictions proposed to the model with a minimal error and a considerably speed. The accuracy and reliability of the applied algorithm is evaluated applying a statistical analysis upon a set of answers using SPSS Statistics

Original language	English
Article number	6749540
Pages (from-to)	212-218
Number of pages	7
Journal	IEEE Latin America Transactions
Volume	12
Issue number	2
DOIs	https://doi.org/10.1109/TLA.2014.6749540
State	Published - Mar 2014
Externally published	Yes

Keywords

artificial intelligence
genetic algorithm
human arm
inverse kinematics
robotic manipulator

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10.1109/TLA.2014.6749540

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abstract = "This paper presents a solution for the inverse kinematics in a human arm kinematics model of seven degrees of freedom applying Genetic Algorithms in the shoulder joint and the Piper method in the whole arm in order to make the algorithm response faster and accurate. The Genetic Algorithm's code explores a set of initial solutions and optimizing it until find an angular answer that satisfies the positional and rotational restrictions proposed to the model with a minimal error and a considerably speed. The accuracy and reliability of the applied algorithm is evaluated applying a statistical analysis upon a set of answers using SPSS Statistics",

keywords = "artificial intelligence, genetic algorithm, human arm, inverse kinematics, robotic manipulator",

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AU - Dutra, M. S.

AU - Lengerke, O.

AU - Carreño, E. A.

AU - Tavera, M. J.M.

PY - 2014/3

Y1 - 2014/3

N2 - This paper presents a solution for the inverse kinematics in a human arm kinematics model of seven degrees of freedom applying Genetic Algorithms in the shoulder joint and the Piper method in the whole arm in order to make the algorithm response faster and accurate. The Genetic Algorithm's code explores a set of initial solutions and optimizing it until find an angular answer that satisfies the positional and rotational restrictions proposed to the model with a minimal error and a considerably speed. The accuracy and reliability of the applied algorithm is evaluated applying a statistical analysis upon a set of answers using SPSS Statistics

AB - This paper presents a solution for the inverse kinematics in a human arm kinematics model of seven degrees of freedom applying Genetic Algorithms in the shoulder joint and the Piper method in the whole arm in order to make the algorithm response faster and accurate. The Genetic Algorithm's code explores a set of initial solutions and optimizing it until find an angular answer that satisfies the positional and rotational restrictions proposed to the model with a minimal error and a considerably speed. The accuracy and reliability of the applied algorithm is evaluated applying a statistical analysis upon a set of answers using SPSS Statistics

KW - artificial intelligence

KW - genetic algorithm

KW - human arm

KW - inverse kinematics

KW - robotic manipulator

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JO - IEEE Latin America Transactions

JF - IEEE Latin America Transactions

IS - 2

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ER -

A hybrid solution for the inverse kinematic on a seven DOF robotic manipulator

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Keywords

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