An Analysis Review: Optimal Trajectory for 6-DOF-based Intelligent Controller in Biomedical Application

With technological advancements and the development of robots have begun to be utilized in numerous sectors, including industrial, agricultural, and medical. Optimizing the path planning of robot manipulators is a fundamental aspect of robot research with promising future prospects. The precise robot manipulator tracks can enhance the efficacy of a variety of robot duties, such as workshop operations, crop harvesting, and medical procedures, among others. Trajectory planning for robot manipulators is one of the fundamental robot technologies, and manipulator trajectory accuracy can be enhanced by the design of their controllers. However, the majority of controllers devised up to this point were incapable of effectively resolving the nonlinearity and uncertainty issues of high-degree freedom manipulators in order to overcome these issues and enhance the track performance of high-degree freedom manipulators. Developing practical path-planning algorithms to efficiently complete robot functions in autonomous robotics is critical. In addition, designing a collision-free path in conjunction with the physical limitations of the robot is a very challenging challenge due to the complex environment surrounding the dynamics and kinetics of robots with different degrees of freedom (DoF) and/or multiple arms. The advantages and disadvantages of current robot motion planning methods, incompleteness, scalability, safety, stability, smoothness, accuracy, optimization, and efficiency are examined in this paper

Optimization Approach for Inverse Kinematic Solution

Inverse kinematics of serial or parallel manipulators can be computed from given Cartesian position and orientation of end effector and reverse of this would yield forward kinematics. Which is nothing but finding out end effector coordinates and angles from given joint angles. Forward kinematics of serial manipulators gives exact solution while inverse kinematics yields number of solutions. The complexity of inverse kinematic solution arises with the increment of degrees of freedom. Therefore it would be desired to adopt optimization techniques. Although the optimization techniques gives number of solution for inverse kinematics problem but it converses the best solution for the minimum function value. The selection of suitable optimization method will provides the global optimization solution, therefore, in this paper proposes quaternion derivation for 5R manipulator inverse kinematic solution which is later compared with teachers learner based optimization (TLBO) and genetic algorithm (GA) for the optimum convergence rate of inverse kinematic solution. An investigation has been made on the accuracies of adopted techniques and total computational time for inverse kinematic evaluations. It is found that TLBO is performing better as compared GA on the basis of fitness function and quaternion algebra gives better computational cost

Inverse Kinematic Analysis of Robot Manipulators

An important part of industrial robot manipulators is to achieve desired position and orientation of end effector or tool so as to complete the pre-specified task. To achieve the above stated goal one should have the sound knowledge of inverse kinematic problem. The problem of getting inverse kinematic solution has been on the outline of various researchers and is deliberated as thorough researched and mature problem. There are many fields of applications of robot manipulators to execute the given tasks such as material handling, pick-n-place, planetary and undersea explorations, space manipulation, and hazardous field etc. Moreover, medical field robotics catches applications in rehabilitation and surgery that involve kinematic, dynamic and control operations. Therefore, industrial robot manipulators are required to have proper knowledge of its joint variables as well as understanding of kinematic parameters. The motion of the end effector or manipulator is controlled by their joint actuator and this produces the required motion in each joints. Therefore, the controller should always supply an accurate value of joint variables analogous to the end effector position. Even though industrial robots are in the advanced stage, some of the basic problems in kinematics are still unsolved and constitute an active focus for research. Among these unsolved problems, the direct kinematics problem for parallel mechanism and inverse kinematics for serial chains constitute a decent share of research domain. The forward kinematics of robot manipulator is simpler problem and it has unique or closed form solution. The forward kinematics can be given by the conversion of joint space to Cartesian space of the manipulator. On the other hand inverse kinematics can be determined by the conversion of Cartesian space to joint space. The inverse kinematic of the robot manipulator does not provide the closed form solution. Hence, industrial manipulator can achieve a desired task or end effector position in more than one configuration. Therefore, to achieve exact solution of the joint variables has been the main concern to the researchers. A brief introduction of industrial robot manipulators, evolution and classification is presented. The basic configurations of robot manipulator are demonstrated and their benefits and drawbacks are deliberated along with the applications. The difficulties to solve forward and inverse kinematics of robot manipulator are discussed and solution of inverse kinematic is introduced through conventional methods. In order to accomplish the desired objective of the work and attain the solution of inverse kinematic problem an efficient study of the existing tools and techniques has been done. A review of literature survey and various tools used to solve inverse kinematic problem on different aspects is discussed. The various approaches of inverse kinematic solution is categorized in four sections namely structural analysis of mechanism, conventional approaches, intelligence or soft computing approaches and optimization based approaches. A portion of important and more significant literatures are thoroughly discussed and brief investigation is made on conclusions and gaps with respect to the inverse kinematic solution of industrial robot manipulators. Based on the survey of tools and techniques used for the kinematic analysis the broad objective of the present research work is presented as; to carry out the kinematic analyses of different configurations of industrial robot manipulators. The mathematical modelling of selected robot manipulator using existing tools and techniques has to be made for the comparative study of proposed method. On the other hand, development of new algorithm and their mathematical modelling for the solution of inverse kinematic problem has to be made for the analysis of quality and efficiency of the obtained solutions. Therefore, the study of appropriate tools and techniques used for the solution of inverse kinematic problems and comparison with proposed method is considered. Moreover, recommendation of the appropriate method for the solution of inverse kinematic problem is presented in the work. Apart from the forward kinematic analysis, the inverse kinematic analysis is quite complex, due to its non-linear formulations and having multiple solutions. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network (ANN) can be gainfully used to yield the desired results. Therefore, in the present work several models of artificial neural network (ANN) are used for the solution of the inverse kinematic problem. This model of ANN does not rely on higher mathematical formulations and are adept to solve NP-hard, non-linear and higher degree of polynomial equations. Although intelligent approaches are not new in this field but some selected models of ANN and their hybridization has been presented for the comparative evaluation of inverse kinematic. The hybridization scheme of ANN and an investigation has been made on accuracies of adopted algorithms. On the other hand, any Optimization algorithms which are capable of solving various multimodal functions can be implemented to solve the inverse kinematic problem. To overcome the problem of conventional tool and intelligent based method the optimization based approach can be implemented. In general, the optimization based approaches are more stable and often converge to the global solution. The major problem of ANN based approaches are its slow convergence and often stuck in local optimum point. Therefore, in present work different optimization based approaches are considered. The formulation of the objective function and associated constrained are discussed thoroughly. The comparison of all adopted algorithms on the basis of number of solutions, mathematical operations and computational time has been presented. The thesis concludes the summary with contributions and scope of the future research work

Obstacle Avoidance and Tracking Control of Redundant Robotic Manipulator: An RNN-Based Metaheuristic Approach

This paper presents a metaheuristic-based control framework, called Beetle Antennae Olfactory Recurrent Neural Network (BAORNN), for simultaneous tracking control and obstacle avoidance of a redundant manipulator. The ability to avoid obstacles while tracking a predefined reference path is critical for any industrial manipulator. The formulated control framework unifies the tracking control and obstacle avoidance into a single constrained optimization problem by introducing a penalty term into the objective function, which actively rewards the optimizer for avoiding the obstacles. One of the significant features of the proposed framework is the way that the penalty term is formulated following a straightforward principle: maximize the minimum distance between manipulator and obstacle. The distance calculations are based on GJK (Gilbert-Johnson-Keerthi) algorithm, which calculates the distance between manipulator and obstacle by directly using their 3D-geometries. Which also implies that our algorithm works for arbitrarily shaped manipulator and obstacle. Theoretical treatment proves the stability and convergence, and simulations results using LBR IIWA 7-DOF manipulator are presented to analyze the performance of the proposed framework

Tracking control of redundant mobile manipulator: An RNN based metaheuristic approach

In this paper, we propose a topology of Recurrent Neural Network (RNN) based on a metaheuristic optimization algorithm for the tracking control of mobile-manipulator while enforcing nonholonomic constraints. Traditional approaches for tracking control of mobile robots usually require the computation of Jacobian-inverse or linearization of its mathematical model. The proposed algorithm uses a nature-inspired optimization approach to directly solve the nonlinear optimization problem without any further transformation. First, we formulate the tracking control as a constrained optimization problem. The optimization problem is formulated on position-level to avoid the computationally expensive Jacobian-inversion. The nonholonomic limitation is ensured by adding equality constraints to the formulated optimization problem. We then present the Beetle Antennae Olfactory Recurrent Neural Network (BAORNN) algorithm to solve the optimization problem efficiently using very few mathematical operations. We present a theoretical analysis of the proposed algorithm and show that its computational cost is linear with respect to the degree of freedoms (DOFs), i.e., O(m). Additionally, we also prove its stability and convergence. Extensive simulation results are prepared using a simulated model of IIWA14, a 7-DOF industrial-manipulator, mounted on a differentially driven cart. Comparison results with particle swarm optimization (PSO) algorithm are also presented to prove the accuracy and numerical efficiency of the proposed controller. The results demonstrate that the proposed algorithm is several times (around 75 in the worst case) faster in execution as compared to PSO, and suitable for real-time implementation. The tracking results for three different trajectories; circular, rectangular, and rhodonea paths are presented

Adaptiver Suchansatz zur multidisziplinären Optimierung von Leichtbaustrukturen unter Verwendung hybrider Metaheuristik

Within the last few years environmental regulations, safety requirements and market competitions forced the automotive industry to open up a wide range of new technologies. Lightweight design is considered as one of the most innovative concepts to fulfil environmental, safety and many other objectives at competitive prices. Choosing the best design and production process in the development period is the most significant link in the automobile production chain. A wide range of design and process parameters needs to be evaluated to achieve numerous goals of production. These goals often stand in conflict with each other. In addition to the variation of the concepts and following the objectives, some limitations such as manufacturing restrictions, financial limits, and deadlines influence the choice of the best combination of variables. This study introduces a structural optimization tool for assemblies made of sheet metal, e.g. the automobile body, based on parametrization and evaluation of concepts in CAD and CAE. This methodology focuses on those concepts, which leads to the use of the right amount of light and strong material in the right place, instead of substituting the whole structure with the new material. An adaptive hybrid metaheuristic algorithm is designed to eliminate all factors that would lead to a local minimum instead of global optimum. Finding the global optimum is granted by using some explorative and exploitative search heuristics, which are intelligently organized by a central controller. Reliability, accuracy and the speed of the proposed algorithm are validated via a comparative study with similar algorithms for an academic optimization problem, which shows valuable results. Since structures might be subject to a wide range of load cases, e.g. static, cyclic, dynamic, temperature-dependent etc., these requirements need to be addressed by a multidisciplinary optimization algorithm. To handle the nonlinear response of objectives and to tackle the time-consuming FEM analyses in crash situations, a surrogate model is implemented in the optimization tool. The ability of such tool to present the optimum results in multi-objective problems is improved by using some user-selected fitness functions. Finally, an exemplary sub-assembly made of sheet metal parts from a car body is optimized to enhance both, static load case and crashworthiness.Die Automobilindustrie hat in den letzten Jahren unter dem Druck von Umweltvorschriften, Sicherheitsanforderungen und wettbewerbsfähigem Markt neue Wege auf dem Gebiet der Technologien eröffnet. Leichtbau gilt als eine der innovativsten und offenkundigsten Lösungen, um Umwelt- und Sicherheitsziele zu wettbewerbsfähigen Preisen zu erreichen. Die Wahl des besten Designs und Verfahrens für Produktionen in der Entwicklungsphase ist der wichtigste Ring der Automobilproduktionskette. Um unzählige Produktionsziele zu erreichen, müssen zahlreiche Design- und Prozessparameter bewertet werden. Die Anzahl und Variation der Lösungen und Ziele sowie einige Einschränkungen wie Fertigungsbeschränkungen, finanzielle Grenzen und Fristen beeinflussen die Auswahl einer guten Kombination von Variablen. In dieser Studie werden strukturelle Optimierungswerkzeuge für aus Blech gefertigte Baugruppen, z. Karosserie, basierend auf Parametrisierung und Bewertung von Lösungen in CAD bzw. CAE. Diese Methodik konzentriert sich auf die Lösungen, die dazu führen, dass die richtige Menge an leichtem / festem Material an der richtigen Stelle der Struktur verwendet wird, anstatt vollständig ersetzt zu werden. Eine adaptive Hybrid-Metaheuristik soll verhindern, dass alle Faktoren, die Bedrohungsoptimierungstools in einem lokalen Minimum konvergieren, anstelle eines globalen Optimums. Das Auffinden des globalen Optimums wird durch einige explorative und ausbeuterische Such Heuristiken gewährleistet. Die Zuverlässigkeit, Genauigkeit und Geschwindigkeit des vorgeschlagenen Algorithmus wird mit ähnlichen Algorithmen in akademischen Optimierungsproblemen validiert und führt zu respektablen Ergebnissen. Da Strukturen möglicherweise einem weiten Bereich von Lastfällen unterliegen, z. statische, zyklische, dynamische, Temperatur usw. Möglichkeit der multidisziplinären Optimierung wurde in Optimierungswerkzeugen bereitgestellt. Um die nichtlineare Reaktion von Zielen zu überwinden und um den hohen Zeitverbrauch von FEM-Analysen in Absturzereignissen zu bewältigen, könnte ein Ersatzmodell vom Benutzer verwendet werden. Die Fähigkeit von Optimierungswerkzeugen, optimale Ergebnisse bei Problemen mit mehreren Zielsetzungen zu präsentieren, wird durch die Verwendung einiger vom Benutzer ausgewählten Fitnessfunktionen verbessert. Eine Unterbaugruppe aus Blechteilen, die zur Automobilkarosserie gehören, ist optimiert, um beide zu verbessern; statischer Lastfall und Crashsicherheit

Path Planning for a 6 DoF Robotic Arm Based on Whale Optimization Algorithm and Genetic Algorithm

The trajectory planning for robotic arms is a significant area of research, given its role in facilitating seamless trajectory execution and enhancing movement efficiency and accuracy. This paper focuses on the development of path planning algorithms for a robotic arm with six degrees of freedom. Specifically, three alternative approaches are explored: polynomial (cubic and quantic), Whale Optimization Algorithm (WOA), and Genetic Algorithm (GA). The comparison of outcomes between different methods revealed that polynomial methods were found to be more straightforward to implement, albeit constrained by the intricacy of the pathway. Upon examining the functioning of the WOA, it has been shown that it is well suited for all types of pathways, regardless of their level of complexity. In addition, when GA is applied, it has been shown less smoothness than WOA but also less complexity. In brief, WOA is deemed superior in the path planning process since it is more thorough in determining the optimal path due to the conical spiral path technique it employs in offering optimized path planning. in comparison to GA, WOA is better in implementation speed and accuracy. However, GA is smoother in start and finish path

Path Planning for a 6 DoF Robotic Arm Based on Whale Optimization Algorithm and Genetic Algorithm

The trajectory planning for robotic arms is a significant area of research, given its role in facilitating seamless trajectory execution and enhancing movement efficiency and accuracy. This paper focuses on the development of path planning algorithms for a robotic arm with six degrees of freedom. Specifically, three alternative approaches are explored: polynomial (cubic and quantic), Whale Optimization Algorithm (WOA), and Genetic Algorithm (GA). The comparison of outcomes between different methods revealed that polynomial methods were found to be more straightforward to implement, albeit constrained by the intricacy of the pathway. Upon examining the functioning of the WOA, it has been shown that it is well suited for all types of pathways, regardless of their level of complexity. In addition, when GA is applied, it has been shown less smoothness than WOA but also less complexity. In brief, WOA is deemed superior in the path planning process since it is more thorough in determining the optimal path due to the conical spiral path technique it employs in offering optimized path planning. in comparison to GA, WOA is better in implementation speed and accuracy. However, GA is smoother in start and finish path