Inverse Kinematics Solution of Manipulator Based on PSO-ELM

In this paper, an improved extreme learning machine (ELM) algorithm based on particle swarm optimization (PSO) is introduced, and the inverse kinematics solution of a six-degree-of-freedom manipulator is analyzed and solved by this algorithm. Firstly, PSO is used to optimize the input layer weights...

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Bibliographic Details
Published inIEEE ... International Conference on Cybernetics and Intelligent Systems (Print) pp. 293 - 297
Main Authors Wu, Fan, Shi, GuoQing, Wang, ShengQiang
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2019
Subjects
Convergence
inverse kinematics solution
Kinematics
Manipulators
Neural networks
Optimization
PSO
PSO-ELM
Training
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ISSN2326-8239
DOI10.1109/CIS-RAM47153.2019.9095813

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Summary:In this paper, an improved extreme learning machine (ELM) algorithm based on particle swarm optimization (PSO) is introduced, and the inverse kinematics solution of a six-degree-of-freedom manipulator is analyzed and solved by this algorithm. Firstly, PSO is used to optimize the input layer weights and hidden layer deviations of the ELM, and then the output layer weights are solved by ELM. The simulation results show that PSO-ELM has a good effect in solving the inverse kinematics of the manipulator.
ISSN:2326-8239
DOI:10.1109/CIS-RAM47153.2019.9095813