Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-DOF Humanoid Robot Arms. (22nd July 2014)

• Record Type: Journal Article
• Authors: Huang, Hsu-Chih; Xu, Sendren Sheng-Dong; Hsu, Huan-Shiuan
• Other Names: Chen Yi Academic Editor.
• Is Part Of: Mathematical problems in engineering. Volume 2014(2014)
• Publication Date: 2014-07-22
• Subjects: Engineering mathematics -- Periodicals; 510.2462
• DOI: 10.1155/2014/358269
• Languages: English
• ISSNs: 1024-123X

Abstract

Abstract : This paper presents a hybrid Taguchi deoxyribonucleic acid (DNA) swarm intelligence for solving the inverse kinematics redundancy problem of six degree-of-freedom (DOF) humanoid robot arms. The inverse kinematics problem of the multi-DOF humanoid robot arm is redundant and has no general closed-form solutions or analytical solutions. The optimal joint configurations are obtained by minimizing the predefined performance index in DNA algorithm for real-world humanoid robotics application. The Taguchi method is employed to determine the DNA parameters to search for the joint solutions of the six-DOF robot arms more efficiently. This approach circumvents the disadvantage of time-consuming tuning procedure in conventional DNA computing. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods. This Taguchi-based DNA (TDNA) solver outperforms the conventional solvers, such as geometric solver, Jacobian-based solver, genetic algorithm (GA) solver and ant, colony optimization (ACO) solver.