A multi-strategy enhanced secretary bird optimization algorithm for high-precision inverse kinematics in robotic arms

Area of Science:

• Robotics
• Control Systems
• Optimization Algorithms

Background:

• Pyrotechnic grain assembly requires high-precision robotic arm motion control.
• Inverse kinematics is crucial for robotic arm trajectory planning.
• Existing algorithms face challenges like local optima and slow convergence for multi-DOF robotic arms.

Purpose of the Study:

• To develop a high-precision robotic arm inverse kinematics model.
• To improve the performance of the Secretary Bird Optimization Algorithm (SBOA) for inverse kinematics.
• To validate the effectiveness of the improved algorithm in pyrotechnic assembly.

Main Methods:

• Reformulated inverse kinematics as a constrained optimization problem.
• Developed a multi-strategy improved Secretary Bird Optimization Algorithm (ISBOA) incorporating oppositional variational perturbation, golden sine development, and evolutionary strategy.
• Conducted simulation experiments on 4, 6, and 7-DOF robotic arms.
• Utilized PCA dimensionality reduction and K-means clustering for result analysis.
• Implemented a MATLAB-CoppeliaSim-UR16e experimental platform for real-world validation.

Main Results:

• ISBOA demonstrated superior performance in solving inverse kinematics problems compared to SBOA.
• Numerical experiments confirmed ISBOA's effectiveness and improved solution diversity.
• Comparative analysis showed ISBOA's advantages in assembly accuracy, singular position handling, and success rates over analytical and Newton iterative methods.
• ISBOA achieved higher grasping and assembly success rates in pyrotechnic grain assembly.

Conclusions:

• The proposed ISBOA is highly effective for high-precision robotic arm control in pyrotechnic grain assembly.
• ISBOA offers significant advantages over traditional methods, particularly in handling complex assembly tasks.
• The developed algorithm shows strong potential for practical engineering applications requiring precise robotic manipulation.