Inverse Solution of Dual-Arm Manipulator Based on PSO

Precise inverse solution is very important for control of the dual-arm robots. In this paper, an improved Particle Swarm Optimization (PSO) is employed to solve the inverse solution of dual-arm manipulators with six-degrees-of-freedom. The new method mainly includes three steps such as chaos initialization, improvement of the inertia weight and particle variation. Firstly, the diversified distribution of particles is performed through chaotic initialization. Secondly, through the improvement of the inertia weight, the diversification of the particle swarm is further expanded. Finally, particle variation is performed to obtain the inverse kinematics solution. Compared with the standard PSO, PSO1, and PSO2, the proposed PSO can raise the accuracy of the inverse solution of the manipulator. The main reason is that the proposed PSO enhances the diversity of particles. The simulation results can verify the effectiveness of the proposed method in this paper.