Matches in SemOpenAlex for { <https://semopenalex.org/work/W3174513481> ?p ?o ?g. }
- W3174513481 endingPage "275" @default.
- W3174513481 startingPage "257" @default.
- W3174513481 abstract "The inverse kinematics of robotic manipulators consists of finding a joint configuration to reach a desired end-effector pose. Since inverse kinematics is a complex non-linear problem with redundant solutions, sophisticated optimization techniques are often required to solve this problem; a possible solution can be found in metaheuristic algorithms. In this work, a modified version of the firefly algorithm for multimodal optimization is proposed to solve the inverse kinematics. This modified version can provide multiple joint configurations leading to the same end-effector pose, improving the classic firefly algorithm performance. Moreover, the proposed approach avoids singularities because it does not require any Jacobian matrix inversion, which is the main problem of conventional approaches. The proposed approach can be implemented in robotic manipulators composed of revolute or prismatic joints of n degrees of freedom considering joint limits constrains. Simulations with different robotic manipulators show the accuracy and robustness of the proposed approach. Additionally, non-parametric statistical tests are included to show that the proposed method has a statistically significant improvement over other multimodal optimization algorithms. Finally, real-time experiments on five degrees of freedom robotic manipulator illustrate the applicability of this approach." @default.
- W3174513481 created "2021-07-05" @default.
- W3174513481 creator A5016082545 @default.
- W3174513481 creator A5033514957 @default.
- W3174513481 creator A5041136093 @default.
- W3174513481 creator A5060433643 @default.
- W3174513481 creator A5082402937 @default.
- W3174513481 date "2021-06-29" @default.
- W3174513481 modified "2023-10-17" @default.
- W3174513481 title "A modified firefly algorithm for the inverse kinematics solutions of robotic manipulators" @default.
- W3174513481 cites W1570834090 @default.
- W3174513481 cites W1651184570 @default.
- W3174513481 cites W165820693 @default.
- W3174513481 cites W1936283025 @default.
- W3174513481 cites W1966913471 @default.
- W3174513481 cites W2004208581 @default.
- W3174513481 cites W2011271260 @default.
- W3174513481 cites W2012042503 @default.
- W3174513481 cites W2019484959 @default.
- W3174513481 cites W2022140811 @default.
- W3174513481 cites W2023883389 @default.
- W3174513481 cites W2044587647 @default.
- W3174513481 cites W2048276781 @default.
- W3174513481 cites W2054878539 @default.
- W3174513481 cites W2057752717 @default.
- W3174513481 cites W2061005234 @default.
- W3174513481 cites W2071269152 @default.
- W3174513481 cites W2078551005 @default.
- W3174513481 cites W2096166399 @default.
- W3174513481 cites W2107473204 @default.
- W3174513481 cites W2124319381 @default.
- W3174513481 cites W2133338270 @default.
- W3174513481 cites W2160105713 @default.
- W3174513481 cites W2166018205 @default.
- W3174513481 cites W2170436854 @default.
- W3174513481 cites W2188506490 @default.
- W3174513481 cites W2334484203 @default.
- W3174513481 cites W2335284675 @default.
- W3174513481 cites W2344098184 @default.
- W3174513481 cites W2435958658 @default.
- W3174513481 cites W2524546330 @default.
- W3174513481 cites W2541406329 @default.
- W3174513481 cites W2571530646 @default.
- W3174513481 cites W2604800736 @default.
- W3174513481 cites W2605363129 @default.
- W3174513481 cites W2737053265 @default.
- W3174513481 cites W2766069146 @default.
- W3174513481 cites W2790859891 @default.
- W3174513481 cites W2791938427 @default.
- W3174513481 cites W2794349891 @default.
- W3174513481 cites W2809752599 @default.
- W3174513481 cites W2810826459 @default.
- W3174513481 cites W2889038884 @default.
- W3174513481 cites W2902524624 @default.
- W3174513481 cites W2911628555 @default.
- W3174513481 cites W2918082440 @default.
- W3174513481 cites W2922859007 @default.
- W3174513481 cites W3006097963 @default.
- W3174513481 cites W3014805772 @default.
- W3174513481 cites W4240172577 @default.
- W3174513481 cites W5961596 @default.
- W3174513481 cites W764501734 @default.
- W3174513481 doi "https://doi.org/10.3233/ica-210660" @default.
- W3174513481 hasPublicationYear "2021" @default.
- W3174513481 type Work @default.
- W3174513481 sameAs 3174513481 @default.
- W3174513481 citedByCount "5" @default.
- W3174513481 countsByYear W31745134812022 @default.
- W3174513481 countsByYear W31745134812023 @default.
- W3174513481 crossrefType "journal-article" @default.
- W3174513481 hasAuthorship W3174513481A5016082545 @default.
- W3174513481 hasAuthorship W3174513481A5033514957 @default.
- W3174513481 hasAuthorship W3174513481A5041136093 @default.
- W3174513481 hasAuthorship W3174513481A5060433643 @default.
- W3174513481 hasAuthorship W3174513481A5082402937 @default.
- W3174513481 hasConcept C104317684 @default.
- W3174513481 hasConcept C105795698 @default.
- W3174513481 hasConcept C11413529 @default.
- W3174513481 hasConcept C117251300 @default.
- W3174513481 hasConcept C120910303 @default.
- W3174513481 hasConcept C121332964 @default.
- W3174513481 hasConcept C138094506 @default.
- W3174513481 hasConcept C154945302 @default.
- W3174513481 hasConcept C154982244 @default.
- W3174513481 hasConcept C160970401 @default.
- W3174513481 hasConcept C17816587 @default.
- W3174513481 hasConcept C185592680 @default.
- W3174513481 hasConcept C200331156 @default.
- W3174513481 hasConcept C207467116 @default.
- W3174513481 hasConcept C208081375 @default.
- W3174513481 hasConcept C2524010 @default.
- W3174513481 hasConcept C2775924081 @default.
- W3174513481 hasConcept C28826006 @default.
- W3174513481 hasConcept C2985527887 @default.
- W3174513481 hasConcept C33923547 @default.
- W3174513481 hasConcept C39920418 @default.
- W3174513481 hasConcept C41008148 @default.
- W3174513481 hasConcept C47446073 @default.