Kinematics solution of hybrid manipulator based on PSO algorithm

In this paper, a hybrid manipulator with four degrees of freedom was taken as the research object, and the inverse kinematics method based on particle swarm optimization (PSO) was proposed to solve the inverse kinematics multiple problems of manipulator. Firstly, the hybrid manipulator model was simplified. The D-H method is used to establish the coordinate system of each link. According to the D-H parameters of each link, we can obtain the pose matrix of the hybrid manipulator and get the homogeneous transformation matrix which is the robot end-effector relative to the shoulder joint. Then the forward kinematics equation of the hybrid manipulator is derived. On this basis, the simulation model of the manipulator is established by Matlab (Robotics Toolbox) which is used to verify the kinematic positive solution. Finally, for solving the inverse kinematics problem of hybrid manipulator, the inverse solution is optimized by the idea of particle swarm optimization (PSO). The ideal angle and the actual angle are analyzed by MATLAB simulation, and the maximum error satisfies the requirements. So the validity of the algorithm is proved.