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DTSTART;TZID=America/Chicago:20220905T110000
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DESCRIPTION:Particle Swarm Optimization (PSO) is one of the most popular Sw
 arm Intelligence paradigms and is a population-based stochastic algorithm 
 that can be used to solve many types of optimization problems in engineeri
 ng. This presentation will show how to solve the inverse kinematics proble
 m for serial robotic manipulators using PSO. Inverse kinematics is a funda
 mental problem in robotics: a set of joint angles must be calculated so th
 at the robot arm can be manipulated to the corresponding desired end effec
 tor position and orientation. Traditional solution techniques include anal
 ytical methods which may or may not exist for a particular robot\, numeric
 al methods such as Newton-Raphson\, Jacobian inverse\, and other technique
 s using swarm intelligence have been developed. Many of the current roboti
 c manipulator inverse kinematics solutions using swarm intelligence only d
 eal with the end effector position and not its orientation. We have develo
 ped a PSO technique that provides the convergence of a complete end effect
 or pose. This solution technique will be demonstrated using the Baxter Res
 earch Robot which has two seven-joint arms although the method can be appl
 ied to any general serial robotic manipulator.\n\nSpeaker(s): HASAN\, \n\n
 Virtual: https://events.vtools.ieee.org/m/320721
LOCATION:Virtual: https://events.vtools.ieee.org/m/320721
ORGANIZER:ztaqvi@gmail.com
SEQUENCE:1
SUMMARY: ""Application of Particle Swarm Optimization in Robot Manipulator 
 Inverse Kinematics"\;"GBS RAS Week": Webinar #1 of 3
URL;VALUE=URI:https://events.vtools.ieee.org/m/320721
X-ALT-DESC:Description: <br /><p>Particle Swarm Optimization (PSO) is one o
 f the most popular Swarm Intelligence paradigms and is a population-based 
 stochastic algorithm that can be used to solve many types of optimization 
 problems in engineering. This presentation will show how to solve the inve
 rse kinematics problem for serial robotic manipulators using PSO. Inverse 
 kinematics is a fundamental problem in robotics: a set of joint angles mus
 t be calculated so that the robot arm can be manipulated to the correspond
 ing desired end effector position and orientation. Traditional solution te
 chniques include analytical methods which may or may not exist for a parti
 cular robot\, numerical methods such as Newton-Raphson\, Jacobian inverse\
 , and other techniques using swarm intelligence have been developed. Many 
 of the current robotic manipulator inverse kinematics solutions using swar
 m intelligence only deal with the end effector position and not its orient
 ation. We have developed a PSO technique that provides the convergence of 
 a complete end effector pose. This solution technique will be demonstrated
  using the Baxter Research Robot which has two seven-joint arms although t
 he method can be applied to any general serial robotic manipulator.</p>
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