An adaptive PSO-based method for inverse kinematics analysis of serial manipulator

The Adaptive Particle Swarm Optimization method(A-PSO) combined the kinematic equations is proposed in this paper. The A-PSO is capable of solving the optimal solution of joint variables. The inverse kinematics mathematic model of the serial dangerous articles disposal manipulator with multiple degrees of freedom (Multi-DOFs) is built. In the proposed searching process, the position matrix and the pose matrix of the fitness function are adjusted by joints form, the steps of the particle swarm change with the global extremum. The proposed method is able to reduce the complexity of the analysis of inverse kinematic equations, and the adaptive solution can be obtained. Compared to the traditional PSO algorithm, the proposed A-PSO can obtain the logical joint variables in a more computationally efficient manner. The accuracy and efficiency of the proposed method is demonstrated in the case study.