caa a22 4500 605469911 CHVBK 20210128100325.0 cr unu---uuuuu 210128e20150401xx s 000 0 eng 10.1007/s00500-014-1414-6 doi (NATIONALLICENCE)springer-10.1007/s00500-014-1414-6 Biologically inspired deoxyribonucleic acid soft computing for inverse kinematics solver of five-DOF robotic manipulators [Elektronische Daten] [Hsu-Chih Huang, Huan-Shiuan Hsu] 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. Springer-Verlag Berlin Heidelberg, 2014 DNA nationallicence Kinematics nationallicence Redundant nationallicence Robotic manipulator nationallicence Huang Hsu-Chih Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan aut Hsu Huan-Shiuan Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan aut Soft Computing Springer Berlin Heidelberg 19/4(2015-04-01), 875-881 1432-7643 19:4<875 2015 19 500 https://doi.org/10.1007/s00500-014-1414-6 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s00500-014-1414-6 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Huang Hsu-Chih Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan aut NATIONALLICENCE 700 1- Hsu Huan-Shiuan Department of Electrical Engineering, National Ilan University, Yilan City, Taiwan aut NATIONALLICENCE 773 0- Soft Computing Springer Berlin Heidelberg 19/4(2015-04-01), 875-881 1432-7643 19:4<875 2015 19 500