Application of IPSO algorithm to inverse kinematics solution of reconfigurable modular robots

Inverse kinematics analysis of the reconfigurable modular robot becomes more complex with the increase of joint number. So to establish a common analytic algorithm of inverse kinematics is very difficult. Using the improved particle swarm optimization (IPSO) algorithm with mutation operator to get the solution of the inverse kinematics is proposed, and the dynamic adjustment of the inertia weight is introduced to keep a balance of global and local searching ability. The simulation results demonstrate the accuracy of the proposed algorithm.