Inverse kinematics application on medical robot using adapted PSO method


Sancaktar I., Tuna B., ULUTAŞ M.

ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH, cilt.21, ss.1006-1010, 2018 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 21 Konu: 5
  • Basım Tarihi: 2018
  • Doi Numarası: 10.1016/j.jestch.2018.06.011
  • Dergi Adı: ENGINEERING SCIENCE AND TECHNOLOGY-AN INTERNATIONAL JOURNAL-JESTECH
  • Sayfa Sayıları: ss.1006-1010

Özet

In this study, an adapted Particle Swarm Optimization (PSO) algorithm is proposed for the inverse kinematic solution of the robot that is designed for reduction in fracture treatment with external fixator and it is applied to this robot, which has six degrees of freedom. In the classic PSO algorithm, all of the particles are directed to the searched target. Until the specified criterion is reached, all particles have a value for each step from the beginning until the reached point and these values are updated taking into account the previous. Therefore, sometimes particles can jam locally if the number set in the solution is too high.