| An Iterated Greedy Algorithm for Inverse Kinematics of Binary Hyper-Redundant Manipulators |
| کد مقاله : 1016-ISME2026 |
| نویسندگان |
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علیرضا مطهری *1، غلامرضا خلج2، صادق قربانحسینی3 1استادیار گروه مهندسی مکانیک- دانشکده فنی و مهندسی- دانشگاه آزاد اسلامی واحد ساوه-ساوه-ایران 2دانشیار گروه مهندسی مواد، دانشکده فنی و مهندسی، دانشگاه آزاد اسلامی واحد ساوه، ساوه، ایران 3استادیار دانشکده مهندسی مکانیک، دانشگاه بوعلی سینا، همدان، ایران |
| چکیده مقاله |
| This paper presents a novel solution to the inverse kinematics (IK) problem for hyper-redundant manipulators that use discrete, binary actuators. These robots have a finite workspace, making conventional IK solvers for continuous robots ineffective. We introduce the Multi-Module Search (M-MS) algorithm, an iterative greedy method that efficiently navigates the discrete configuration space. The M-MS method works by iteratively selecting a group of modules and finding their optimal configuration combination to minimize the end-effector error. The algorithm's performance is rigorously tested on both planar and spatial manipulator models. Results demonstrate a key trade-off: searching more modules simultaneously reduces final error but increases computational cost. Furthermore, the proposed M-MS method is shown to outperform several established meta-heuristic algorithms, including Particle Swarm Optimization and Genetic Algorithms, in terms of both accuracy and robustness, establishing it as a superior approach for real-time control of discretely actuated systems. |
| کلیدواژه ها |
| inverse kinematics, hyper-redundant manipulator, discrete actuation, multi-module search, binary robot, discrete optimization |
| وضعیت: پذیرفته شده برای ارائه شفاهی |