Inverse Kinematics Solution of Manipulator Based on Information Entropy and Artificial Immune Algorithm
The inverse kinematics of manipulator is of great significance to both theory and practice. The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the...
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| creator | Ping Xie Shuang-feng Huang Huan Wang |
| description | The inverse kinematics of manipulator is of great significance to both theory and practice. The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the density of antibodies is brought forward according to the special structure of the manipulator. With this method, the function can be solved accurately and rapidly. The penalty function is used in the process of solution to make sure that the manipulator based on this method can move more flexibly. The validity of this method is shown by simulation. |
| doi_str_mv | 10.1109/ICNC.2008.565 |
| format | Conference Proceeding |
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The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the density of antibodies is brought forward according to the special structure of the manipulator. With this method, the function can be solved accurately and rapidly. The penalty function is used in the process of solution to make sure that the manipulator based on this method can move more flexibly. 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The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the density of antibodies is brought forward according to the special structure of the manipulator. With this method, the function can be solved accurately and rapidly. The penalty function is used in the process of solution to make sure that the manipulator based on this method can move more flexibly. The validity of this method is shown by simulation.</description><subject>Algebra</subject><subject>Approximation algorithms</subject><subject>artificial immune</subject><subject>Diversity reception</subject><subject>Geometry</subject><subject>Immune system</subject><subject>Information entropy</subject><subject>inverse kinematics</subject><subject>Kinematics</subject><subject>manipulator</subject><subject>Process planning</subject><subject>Trajectory</subject><subject>Uncertainty</subject><issn>2157-9555</issn><isbn>9780769533049</isbn><isbn>0769533043</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2008</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj8tOwzAURC1BJQp0yYqNfyDlOn7FyxIViCiwANaVG18Xo8SpHBepf08rWM3R6GikIeSGwZwxMHdN_VrPS4BqLpU8IzOjK9DKSM5BmHMyLZnUhZFSTsjlSTMgWFVekNk4fgMAZ1prMFOybeIPphHpc4jY2xzakb4P3T6HIdLB0xcbw27f2Twkem9HdPTYN9EP6SQfeRlzGnYHaqOji5SDD22wHW36fh-RLrrtkEL-6q_JxNtuxNl_XpHPh-VH_VSs3h6berEqAtMyF4oz6Y1gpWxBQdU6KRxztpSVQ66t06Dw-BDNxisD3rRWKKHNBtFbqYXmV-T2bzcg4nqXQm_TYS2U0oZV_BeoDFn9</recordid><startdate>200810</startdate><enddate>200810</enddate><creator>Ping Xie</creator><creator>Shuang-feng Huang</creator><creator>Huan Wang</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>200810</creationdate><title>Inverse Kinematics Solution of Manipulator Based on Information Entropy and Artificial Immune Algorithm</title><author>Ping Xie ; Shuang-feng Huang ; Huan Wang</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-6315f94125c0608cd54d1da258de37ad706e304e9bf690f9ca46479beefa57473</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2008</creationdate><topic>Algebra</topic><topic>Approximation algorithms</topic><topic>artificial immune</topic><topic>Diversity reception</topic><topic>Geometry</topic><topic>Immune system</topic><topic>Information entropy</topic><topic>inverse kinematics</topic><topic>Kinematics</topic><topic>manipulator</topic><topic>Process planning</topic><topic>Trajectory</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Ping Xie</creatorcontrib><creatorcontrib>Shuang-feng Huang</creatorcontrib><creatorcontrib>Huan Wang</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ping Xie</au><au>Shuang-feng Huang</au><au>Huan Wang</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Inverse Kinematics Solution of Manipulator Based on Information Entropy and Artificial Immune Algorithm</atitle><btitle>2008 Fourth International Conference on Natural Computation</btitle><stitle>ICNC</stitle><date>2008-10</date><risdate>2008</risdate><volume>6</volume><spage>662</spage><epage>665</epage><pages>662-665</pages><issn>2157-9555</issn><isbn>9780769533049</isbn><isbn>0769533043</isbn><abstract>The inverse kinematics of manipulator is of great significance to both theory and practice. The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the density of antibodies is brought forward according to the special structure of the manipulator. With this method, the function can be solved accurately and rapidly. The penalty function is used in the process of solution to make sure that the manipulator based on this method can move more flexibly. The validity of this method is shown by simulation.</abstract><pub>IEEE</pub><doi>10.1109/ICNC.2008.565</doi><tpages>4</tpages></addata></record> |
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| ispartof | 2008 Fourth International Conference on Natural Computation, 2008, Vol.6, p.662-665 |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Algebra Approximation algorithms artificial immune Diversity reception Geometry Immune system Information entropy inverse kinematics Kinematics manipulator Process planning Trajectory Uncertainty |
| title | Inverse Kinematics Solution of Manipulator Based on Information Entropy and Artificial Immune Algorithm |
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