Determining inverse kinematics of a serial robotic manipulator through the use of genetic programming algorithm
Created by W.Langdon from
gp-bibliography.bib Revision:1.8010
- @InProceedings{car:2021:SSM,
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author = "Zlatan Car and Sandi {Baressi Segota} and
Nikola Andelic and Ivan Lorencin and Jelena Musulin and
Daniel Stifanic and Vedran Mrzljak",
-
title = "Determining inverse kinematics of a serial robotic
manipulator through the use of genetic programming
algorithm",
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booktitle = "18th International Congress of Serbian Society of
Mechanics",
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year = "2021",
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editor = "Nenad Filipovic and Milos Kojic",
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address = "Kragujevac, Serbia",
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month = jun # " 28-30",
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keywords = "genetic algorithms, genetic programming, industrial
robotics, inverse kinematics",
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URL = "https://www.bib.irb.hr:8443/1133808/download/1133808.Contribution_template_2021.edited.pdf",
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size = "6 pages",
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abstract = "Inverse kinematics is one of the key parts of any
industrial robotic manipulator modeling.Solving the
inverse kinematics of a robotic manipulator in the
classical analytical manner is fairly complex and
error-prone. While previous research has shown the
possibility of AI application for inverse kinematics
solutions, such models have certain pitfalls which
makes the probability of their use low. For this
reason, the authors propose Genetic Programming (GP),
which is an AI method that generates models in the
shapes of equations. The application of the algorithm
in question shows promise, with errors being lower than
0.5 degrees for all regressed joints when evaluated
using Mean Absolute Error (MAE). This points towards
the fact that GP could be used in such an approach but
some details of the algorithm need to be addressed,
such as the tendency to generate large and simplifiable
equations, or lower precision when compared to previous
AI-based solutions to the same problem.",
-
notes = "http://www.ssm.kg.ac.rs/congress_2021/
Faculty of Engineering, University of Rijeka,
Vukovarska 58, 51000 Rijeka, Croatia",
- }
Genetic Programming entries for
Zlatan Car
Sandi Baressi Segota
Nikola Andelic
Ivan Lorencin
Jelena Musulin
Daniel Stifanic
Vedran Mrzljak
Citations