Abstract
This paper needs to use its geometric model to control a planar robot with 4 degrees of freedom (DOFs). When calculating these models, the singularity problem is often encountered. To overcome this problem, we present in this paper a new efficient method to overcome this problem and compute the position of the joints of the 4R robot. This method uses a metaheuristic algorithm and the coordinates of four selected points in the object image to find the desired trajectory. The simulation results are performed using the Sine Cosine Algorithm (SCA). These results show the proposed method’s effectiveness in optimizing the positions of the joints of the 4 DOFs robot to control and find the optimal trajectory.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Wang, S., Zhang, K., Herrmann, G.: An adaptive controller for robotic manipulators with unknown kinematics and dynamics. IFAC-PapersOnLine 53, 8796–8801 (2020). https://doi.org/10.1016/j.ifacol.2020.12.1385(2020)
Hubert J.: Manipulateurs parallèles, singularités et analyse statique. Ph.D. thesis, École Nationale Supérieure des Mines de Paris (2010)
Rijalusalam, D.U., Iswanto, I.: Implementation Kinematics modeling and Odometry of four Omni wheel mobile robot on the trajectory planning and motion control based microcontroller. J. Robot. Control 2 (2021). https://doi.org/10.18196/jrc.25121
Tapia, J.G.: Modélisation et identification géométrique de robots utilisés pour des opérations d’usinage. Université Blaise Pascal - Clermont-Ferrand II (2016)
Chang, Y., Li, L., Wang, Y., You, K.: Toward fast convergence and calibration-free visual servoing control: a new image-based uncalibrated finite-time control scheme. IEEE Access 8, 88333–88347 (2020). https://doi.org/10.1109/ACCESS.2020.2993280
Benchora, A., Metchat, A.A.: Conception et réalisation d’un robot à structure parallèle. Ph.D. thesis, M MALTI Abed (2020)
Benchora, A., Metchat, A.A.: Calibrage géométrique d’un robot parallèle. Ph.D. thesis, M MALTI Abed (2020)
Li, W., Cheng, T., Ye, M., et al.: Kinematic modeling and visual servo control of a soft-bodied magnetic anchored and guided endoscope. IEEE/ASME Trans. Mechatron. 25, 1531–1542 (2020). https://doi.org/10.1109/TMECH.2020.2978538
Sabrina, H. : Etude cinématique et géométrique d’un robot à 6 ddl (2020)
Furet, M.: Analyse cinéto-statique de mécanismes de tenségrité: Application à la modélisation de cous d’oiseaux et de manipulateurs bio-inspirés. Ph.D. thesis, Ecole Centrale de Nantes (2020)
Gambhire, S.J., Kishore, D.R., Londhe, P.S., Pawar, S.N.: Review of sliding model-based control techniques for control system applications. Int. J. Dyn. Control 9, 363–378 (2021)
Alandoli, E.A., Lee, T.S.: A critical review of control techniques for flexible and rigid link manipulators. Robotica 38, 2239–2265 (2020)
El-Hussieny, H., Hameed, I.A., Ryu, J.-H.: Nonlinear model predictive growth control of a plant-inspired, soft-growing robot class. IEEE Access 8, 214495–214503 (2020)
Wang, C., Frazelle, C.G., Wagner, J.R., Walker, I.D.: Dynamic control of multisection three-dimensional continuum manipulators based on virtual discrete-jointed robot models. IEEE/ASME Trans. Mechatron. 26, 777–788 (2020)
Izadbakhsh, A., Khorashadizadeh, S.: Robust adaptive control of robot manipulators using Bernstein polynomials as a universal approximator. Int. J. Robust Nonlinear Control 30, 2719–2735 (2020)
Dokeroglu, T., Sevinc, E., Kucukyilmaz, T., Cosar, A.: A survey on new generation metaheuristic algorithms. Comput. Ind. Eng. 137, 106040 (2019). https://doi.org/10.1016/j.cie.2019.106040
Yang, X.-S.: Harmony search as a metaheuristic algorithm. In: Geem, Z.W. (eds.) Music-Inspired Harmony Search Algorithm. Studies in Computational Intelligence, vol. 191, pp. 1–14. Springer, Heidelberg (2009). https://doi.org/10.1007/978-3-642-00185-7_1
Degertekin, S.O.: Improved harmony search algorithms for sizing optimization of truss structures. Comput. Struct. 92, 229–241 (2012)
Hussain, S.F., Pervez, A., Hussain, M.: Co-clustering optimization using Artificial Bee Colony (ABC) algorithm. Appl. Soft Comput. 97, 106725 (2020)
Shehab, M., Abualigah, L., Al Hamad, H., Alabool, H., Alshinwan, M., Khasawneh, A.M.: Moth–flame optimization algorithm: variants and applications. Neural Comput. Appl. 32(14), 9859–9884 (2019). https://doi.org/10.1007/s00521-019-04570-6
Ebadinezhad, S.: DEACO: Adopting dynamic evaporation strategy to enhance ACO algorithm for the traveling salesman problem. Eng. Appl. Artif. Intell. 92, 103649 (2020)
Kumar, L., Bharti, K.K.: A novel hybrid BPSO–SCA approach for feature selection. Nat. Comput. 20(1), 39–61 (2019). https://doi.org/10.1007/s11047-019-09769-z
Mirjalili, S.: SCA: A Sine Cosine Algorithm for solving optimization problems. Knowl. Based Syst. 96, 120–133 (2016). https://doi.org/10.1016/j.knosys.2015.12.022
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Harrade, I., Daoui, A., Kmich, M., Chalh, Z., Sayyouri, M. (2022). Control of a Four Degrees of Freedom Robot Using a Sine Cosine Algorithm for Joint Position. In: Motahhir, S., Bossoufi, B. (eds) Digital Technologies and Applications. ICDTA 2022. Lecture Notes in Networks and Systems, vol 455. Springer, Cham. https://doi.org/10.1007/978-3-031-02447-4_81
Download citation
DOI: https://doi.org/10.1007/978-3-031-02447-4_81
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-02446-7
Online ISBN: 978-3-031-02447-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)