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Biologically inspired deoxyribonucleic acid soft computing for inverse kinematics solver of five-DOF robotic manipulators

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Abstract

This paper presents a biologically inspired deoxyribonucleic acid (DNA) algorithm for solving the inverse kinematics of five degree-of-freedom (DOF) robotic manipulators. Although the 5-DOF robotic manipulator agilely maneuvers from one pose to another and easily performs some tasks, the inverse kinematics problem of the system is redundant. This problem has no general closed-form solutions or analytical solutions for the 5-DOF manipulator. The DNA soft computing is proposed to solve the redundant inverse kinematics problem of the 5-DOF robotic manipulators more efficiently. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods in comparison with conventional genetic algorithm (GA) and particle swarm optimization.

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Acknowledgments

The authors gratefully acknowledge financial support from the National Science Council, Taiwan, R.O.C., under grant NSC102-2221-E-197-023.

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Authors and Affiliations

  1. Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan

    Hsu-Chih Huang & Huan-Shiuan Hsu

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  1. Hsu-Chih Huang
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  2. Huan-Shiuan Hsu
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Correspondence to Hsu-Chih Huang.

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Communicated by J.-W. Jung.

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Huang, HC., Hsu, HS. Biologically inspired deoxyribonucleic acid soft computing for inverse kinematics solver of five-DOF robotic manipulators. Soft Comput 19, 875–881 (2015). https://doi.org/10.1007/s00500-014-1414-6

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  • DOI: https://doi.org/10.1007/s00500-014-1414-6

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