Research on 6-DOF robot inverse kinematics based on blended optimization algorithm of ELM- SSA-SCA
Advances in Mechanical Engineering, ISSN: 1687-8140, Vol: 14, Issue: 7
2022
- 11Captures
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Example: if you select the 1-year option for an article published in 2019 and a metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019. If you select the 3-year option for the same article published in 2019 and the metric category shows 90%, that means that the article or review is performing better than 90% of the other articles/reviews published in that journal in 2019, 2018 and 2017.
Citation Benchmarking is provided by Scopus and SciVal and is different from the metrics context provided by PlumX Metrics.
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- Captures11
- Readers11
- 11
Article Description
To enhance the resolution timeliness and accuracy of inverse kinematics of industrial robots, a robot inverse kinematics method based on ELM-SSA-SCA was proposed. The positive kinematic model of the mechanical arm with Six Degrees of Freedom was established using D-H method, and ELM (extreme learning machine) with fast training speed was used to predict the initial resolution of robot inverse kinematics. The blended optimization method of SSA (Sparrow Search Algorithm) and SCA (Sine Cosine Algorithm) was applied to optimize the obtained initial inverse solution. The position under the optimum fitness was used as the output, so as to obtain the optimum solution of inverse kinematics. It is shown from the experimental results that the algorithm based on SSA-SCA-ELM achieved inverse solutions with faster convergence rate, higher precision and better timeliness compared to the solution method based on PSA-BP neural network.
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