Naslov
Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots

Autori
Glumac, Slaven ; Kovačić, Zdenko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 2013 IEEE International Conference on Systems, Man, and Cybernetics / - Manchester : CPS (Conference Publishing Services), 2013, 201-207

ISBN
978-0-7695-5154-8

Skup
2013 IEEE International Conference on Systems, Man, and Cybernetics

Mjesto i datum
Manchester, Ujedinjeno Kraljevstvo, 13.10.2013. - 16.10.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
optimization algorithm ; microimmune algorithm ; inverse kinematics ; real time execution

Sažetak
A microimmune optimization algorithm presented in this paper was considered for solving inverse kinematics of a redundant robotic arm. For this purpose, a multiobjective criterion was defined to compare performances of microimmune and microgenetic algorithms. Multiobjective optimization was used to determine a set of best algorithms, and the microimmune algorithm proved superior in solving a selected optimization problem. The assessment of time needed for algorithms to solve the inverse kinematics problem on-line was made based on the tests carried out on a low-cost microcontroller.

Izvorni jezik
Engleski

Znanstvena područja
Temeljne tehničke znanosti

POVEZANOST RADA