Inverse Kinematics Solution of Manipulator Based on PSO-ELM
Fan Wu, Guoqing Shi, ShengQiang Wang · 2019
In this paper, an improved extreme learning machine (ELM) algorithm based on particle swarm optimization (PSO) is introduced, and the inverse kinematics solution of a six-degree-of-freedom manipulator is analyzed and solved by this algorithm. Firstly, PSO is used to optimize the input layer weights and hidden layer deviations of the ELM, and then the output layer weights are solved by ELM. The simulation results show that PSO-ELM has a good effect in solving the inverse kinematics of the manipulator.