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Last active Dec 21, 2021
Particle swarm optimization for inverse kinematics

Inverse Kinematics using PSO

Solution for the inverse kinematics problem using Particle Swarm Optimization (PSO)
Blog Post: https://ljvmiranda921.github.io/notebook/2017/02/04/inverse-kinematics-pso/

Inverse Kinematics (IK) is one of the most challenging problems in robotics. The problem involves finding an optimal pose for a manipulator given the position of the end-tip effector. This can be seen in contrast with forward kinematics, where the end-tip position is sought given the pose or joint configuration. Normally, this position is expressed as a point in a coordinate system (e.g., in a Cartesian system, it is a point comprising of x, y, and z coordinates.). On the other hand, the manipulator's pose can be expressed as the collection of joint variables that can describe the angle of bending or twist (in revolute joints) or length of extension (in prismatic joints).

IK is particularly difficult because multiple solutions can arise. Intuitively, a robotic arm can have multiple ways of reaching through a certain point. Moreover, calculation can prove to be very difficult. Simple solutions can be found for 3-DOF manipulators, but a 6-DOF or higher can be very challenging to solve algebraically.

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Copyright 2017, Lester James V. Miranda