Biologically inspired deoxyribonucleic acid soft computing for inverse kinematics solver of five-DOF robotic manipulators
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| 024 | 7 | 0 | |a 10.1007/s00500-014-1414-6 |2 doi |
| 035 | |a (NATIONALLICENCE)springer-10.1007/s00500-014-1414-6 | ||
| 245 | 0 | 0 | |a Biologically inspired deoxyribonucleic acid soft computing for inverse kinematics solver of five-DOF robotic manipulators |h [Elektronische Daten] |c [Hsu-Chih Huang, Huan-Shiuan Hsu] |
| 520 | 3 | |a This paper presents a biologically inspired deoxyribonucleic acid (DNA) algorithm for solving the inverse kinematics of five degree-of-freedom (DOF) robotic manipulators. Although the 5-DOF robotic manipulator agilely maneuvers from one pose to another and easily performs some tasks, the inverse kinematics problem of the system is redundant. This problem has no general closed-form solutions or analytical solutions for the 5-DOF manipulator. The DNA soft computing is proposed to solve the redundant inverse kinematics problem of the 5-DOF robotic manipulators more efficiently. Simulation results are conducted to illustrate the effectiveness and merit of the proposed methods in comparison with conventional genetic algorithm (GA) and particle swarm optimization. | |
| 540 | |a Springer-Verlag Berlin Heidelberg, 2014 | ||
| 690 | 7 | |a DNA |2 nationallicence | |
| 690 | 7 | |a Kinematics |2 nationallicence | |
| 690 | 7 | |a Redundant |2 nationallicence | |
| 690 | 7 | |a Robotic manipulator |2 nationallicence | |
| 700 | 1 | |a Huang |D Hsu-Chih |u Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan |4 aut | |
| 700 | 1 | |a Hsu |D Huan-Shiuan |u Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan |4 aut | |
| 773 | 0 | |t Soft Computing |d Springer Berlin Heidelberg |g 19/4(2015-04-01), 875-881 |x 1432-7643 |q 19:4<875 |1 2015 |2 19 |o 500 | |
| 856 | 4 | 0 | |u https://doi.org/10.1007/s00500-014-1414-6 |q text/html |z Onlinezugriff via DOI |
| 898 | |a BK010053 |b XK010053 |c XK010000 | ||
| 900 | 7 | |a Metadata rights reserved |b Springer special CC-BY-NC licence |2 nationallicence | |
| 908 | |D 1 |a research-article |2 jats | ||
| 949 | |B NATIONALLICENCE |F NATIONALLICENCE |b NL-springer | ||
| 950 | |B NATIONALLICENCE |P 856 |E 40 |u https://doi.org/10.1007/s00500-014-1414-6 |q text/html |z Onlinezugriff via DOI | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Huang |D Hsu-Chih |u Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan |4 aut | ||
| 950 | |B NATIONALLICENCE |P 700 |E 1- |a Hsu |D Huan-Shiuan |u Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan |4 aut | ||
| 950 | |B NATIONALLICENCE |P 773 |E 0- |t Soft Computing |d Springer Berlin Heidelberg |g 19/4(2015-04-01), 875-881 |x 1432-7643 |q 19:4<875 |1 2015 |2 19 |o 500 | ||