Abstract
The problem of inverse kinetics in the robotics field, especially for redundant driven robots, often requires the application of a lot of techniques. The redundancy in degree of freedom, the nonlinearity of the system lead to the inverse kinematics resolution more challenge. In this study, we proposed to apply the Differential Evolution optimization algorithm with the search space improvement to solve this problem for the human upper limb which is very typical redundancy model in nature. Firstly, the forward kinematic modeling and problem for the human arm was presented. Next, an Exoskeletal type Human Motion Capture (E-HMCS) device was shown. This device was used to measure the endpoint trajectories of Activities of Daily Living, together with desired joints’ values corresponding. The measured endpoint trajectories then were put into the proposed optimization algorithm to solve the inverse kinematics to create a set of predicted joints value. The comparison results showed that the predicted joints’ values are the same as the measured values. That demonstrates the ability to use the proposed algorithm to solve the problem of inverse kinematics for the natural movements of the human upper limbs.
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Acknowledgement
Research reported in this paper was supported by Ministry of Science and Technology of Vietnam, under award number [ĐTĐLCN.28/20].
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Nguyen, T., Nguyen, H., Dang, K., Nguyen, P., Pham, H., Bui, A. (2021). Simulation and Experiment in Solving Inverse Kinematic for Human Upper Limb by Using Optimization Algorithm. In: Nguyen, N.T., Chittayasothorn, S., Niyato, D., Trawiński, B. (eds) Intelligent Information and Database Systems. ACIIDS 2021. Lecture Notes in Computer Science(), vol 12672. Springer, Cham. https://doi.org/10.1007/978-3-030-73280-6_44
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