Una solución Hibrida para la Cinemática Inversa en un Manipulador Robotico de siete GDL (A Hybrid Solution for the Inverse Kinematic on a Seven DOF Robotic Manipulator)

Elkin Yesid Veslin (eyveslin@uniboyaca.edu.co)1, Max Suell Dutra (dutra.max3@gmail.com)2, Omar Lengerke (olengerke@unab.edu.co)4, Edith Alejandra Carreño (edith.carreno@unad.edu.co)3, Magda Judtih Morales Tavera (magditam@gmail.com)4


1Universidad de Boyacá
2Universidade Federal do Rio de Janeiro
3Universidad Nacional Abierta y a Distancia
4Universidad Autónoma de Bucaramanga

This paper appears in: Revista IEEE América Latina

Publication Date: March 2014
Volume: 12,   Issue: 2 
ISSN: 1548-0992


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

Index Terms:
genetic algorithm, inverse kinematics, artificial intelligence, human arm, robotic manipulator   


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