Robot inverse kinematics solution based on an improved whale optimization algorithm
WANG Ting
WU Quanjun
Abstract：[Objective]Robot inverse kinematics solution plays an important role in trajectory planning and control.The traditional inverse kinematics of robot was solved according to the kinematics equation and the mathematical theory,which has low calculation efficiency and has a certain impact on the control accuracy.In order to overcome these problems,an improved whale optimization algorithm was used to solve its inverse kinematics.[Methods]Improved whale optimization algorithm was proposed by integrating the mutation and selection operations of differential evolution algorithm into the whale optimization algorithm.The improved algorithm has good global search performance and fast convergence.Taking a 6R robot as the research object,improved whale optimization algorithm was used to solve its inverse kinematics.[Results]Results show that using improved whale optimization algorithm to obtain the inverse kinematics solution of the robot can simplify the solving steps and ensure the solution accuracy at the same time.
Keywords：Optimization algorithmRobotInverse kinematics
Publication Date：2025-02-14
Online Publishing Date：2026-09-12(First online date of this platform, not the publication date of the document)
Pages：5( 89-92,169 )