novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.19.714-724novtexmech-535Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSA Comparative Study for an Inverse Kinematics Solution of an Aerial Manipulator Based on the Differential Evolution Method and the Modifi ed Shuffl ed Frog-Leaping AlgorithmA Comparative Study for an Inverse Kinematics Solution of an Aerial Manipulator Based on the Differential Evolution Method and the Modifi ed Shuffl ed Frog-Leaping Algorithmhttps://orcid.org/0000-0001-9544-3020IbrahimI. N.IbrahimI. N.

 Ph. D. Student.

Izhevsk, 426069.

 Ph. D. Student.

Izhevsk, 426069.

ibrncfe@gmail.comDepartment of Mechatronics and Robotics, Kalashnikov Izhevsk State Technical University.РоссияDepartment of Mechatronics and Robotics, Kalashnikov Izhevsk State Technical University.Russian Federation2018071120181911714724Copyright © Commercial Publisher «New Technologies», 20182018Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/535

This paper focuses on the real-time kinematics solution of an aerial manipulator mounted on an aerial vehicle, the vehicle’s motion isn’t considered in this study. Robot kinematics using Denavit-Hartenberg model  was presented. The fundamental scope of this paper is to obtain a global online solution of design configurations with a weighted specific objective function and imposed constraints are fulfilled. Acknowledging the forward kinematics equations of the manipulator; the trajectory planning issue is consequently assigned to on an optimization issue. Several types of computing methods are documented in the literature and are well-known for solving complicated nonlinear functions. Accordingly, this study suggests two kinds of artificial intelligent techniques which are regarded as search methods; they are differential evolution (DE) method and modified shuffled frog-leaping algorithm (MSFLA). These algorithms are constrained metaheuristic and population-based approaches. moreover, they are able to solve the inverse kinematics problem taking into account the mobile platform additionally avoiding singularities since it doesn’t demand the inversion of a Jacobian matrix. Simulation results are carried out for trajectory planning of 6 degree-of-freedom (DOF) kinematically aerial manipulator and confirmed the feasibility and effectiveness of the supposed methods.

This paper focuses on the real-time kinematics solution of an aerial manipulator mounted on an aerial vehicle, the vehicle’s motion isn’t considered in this study. Robot kinematics using Denavit-Hartenberg model  was presented. The fundamental scope of this paper is to obtain a global online solution of design configurations with a weighted specific objective function and imposed constraints are fulfilled. Acknowledging the forward kinematics equations of the manipulator; the trajectory planning issue is consequently assigned to on an optimization issue. Several types of computing methods are documented in the literature and are well-known for solving complicated nonlinear functions. Accordingly, this study suggests two kinds of artificial intelligent techniques which are regarded as search methods; they are differential evolution (DE) method and modified shuffled frog-leaping algorithm (MSFLA). These algorithms are constrained metaheuristic and population-based approaches. moreover, they are able to solve the inverse kinematics problem taking into account the mobile platform additionally avoiding singularities since it doesn’t demand the inversion of a Jacobian matrix. Simulation results are carried out for trajectory planning of 6 degree-of-freedom (DOF) kinematically aerial manipulator and confirmed the feasibility and effectiveness of the supposed methods.

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The authors declare that there are no conflicts of interest present.