Reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije

magistrsko delo

Timi Kupčič (Author), Borko Bošković (Mentor), Janez Brest (Co-mentor)

Abstract

V magistrskem delu predstavimo reševanje problema inverzne kinematike s pomočjo algoritma diferencialne evolucije. Algoritem predstavimo na primeru robotske roke PUMA 560 skupaj z dobljenimi rezultati. Dodatno ga preizkusimo tudi na robotski roki KUKA KR 16 in ostalih problemih inverzne kinematike zunaj področja robotike, s čimer nakažemo njegovo vsestranskost. Dobljeni rezultati so pokazali, da je algoritem relativno hiter in uspešen pri reševanju problema inverzne kinematike in je tako ob ustreznih nastavitvah sposoben najti dobre rešitve za katerikoli problem.

Keywords

diferencialna evolucija;inverzna kinematika;robotska roka;magistrske naloge;

Data

Language:	Slovenian
Year of publishing:	2019
Typology:	2.09 - Master's Thesis
Organization:	UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher:	[T. Kupčič]
UDC:	004.8.021(043.2)
COBISS:	22840086
Views:	694
Downloads:	200
Average score:	0 (0 votes)
Metadata:

Other data

Secondary language:	English
Secondary title:	Differential evolution algorithm for solving the inverse kinematics problem
Secondary abstract:	In the thesis we present a solution to the problem of inverse kinematics with the help of the differential evolution algorithm. The algorithm is presented on the example of the PUMA 560 robotic arm together with the obtained results. It is further tested on the KUKA KR 16 robot arm and other inverse kinematics problems outside the field of robotics, thus demonstrating its versatility. The obtained results showed that the algorithm is relatively fast and successful in solving the problem of inverse kinematics and is thus able to find a good solution to any problem with the appropriate settings.
Secondary keywords:	differential evolution;inverse kinematics;robotic arm;
Type (COBISS):	Master's thesis/paper
Thesis comment:	Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Računalništvo in informacijske tehnologije
Pages:	X, 68 str.
ID:	11225634