A Comprehensive Research on The Use of Swarm Algorithms in The Inverse Kinematics Solution

Yıl 2019, , 75 - 79, 01.03.2019

Serkan Dereli , Raşit Köker İsmail Öylek Mükremin Ay

https://doi.org/10.2339/politeknik.374830

Cited By: 3

Öz

A comprehensive study was presented on swarm
algorithms used in the inverse kinematic solution which is the basis of robot
control in this paper. Because it is a complex and difficult problem group, the
inverse kinematic solution is an important problem especially in robot arms
with a lot of joints. So, swarm optimization techniques which were inspired by
the animals in the nature, are often used by researchers, because these
techniques find the best solution in a particular solution space. Artificial
bee colony, firefly algorithm and particle swarm algorithm are the swarm
techniques mentioned in this study. Since, these algorithms are frequently used
in inverse kinematic solution in the literature.

Anahtar Kelimeler

Robotic, inverse kinematics, swarm algorithms

A Comprehensive Research on The Use of Swarm Algorithms in The Inverse Kinematics Solution

Öz

Bu çalışmada, robot kontrolünün
temelinde bulunan ters kinematik çözümün bulunması için kullanılan sürü
algoritmalarının kapsamlı bir araştırması sunulmuştur. Ters kinematik çözüm karmaşık
ve zor problem grupları arasında olduğundan önemli bir problemdir. Özellikle bu
durum robot kolunun çok fazla sayıda eklemi bulunduğunda çok daha
zorlaşmaktadır. Bu nedenle doğadaki hayvanların davranışlarından esinlenilen
sürü optimizasyonu teknikleri araştırmacılar tarafından sık sık
kullanılmaktadır. Çünkü bu teknikler parçacık çözüm uzayındaki en iyi değeri
elde etmektedirler. Yapay arı kolonisi, ateş böceği algoritması ve parçacık
sürü algoritması bu çalışmada bahsi geçen tekniklerdir ve literatürde sıklıkla
tercih edilmişlerdir.   

Anahtar Kelimeler

Robotik, ters kinematik, sürü algoritmaları

Kaynakça

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