Researchers at Tongji University Develop Advanced Robotic Arm Motion Control Algorithm

Strategic Insights -

Researchers at Tongji University have developed a high-precision robotic arm motion control algorithm, which has potential applications in pyrotechnic grain assembly and engineering. The algorithm, known as the multi-strategy enhanced secretary bird optimization algorithm (ISBOA), reformulates the inverse kinematics problem as a constrained optimization problem and employs a multi-strategy improved Secretary Bird Optimization Algorithm to achieve high-precision solutions. Simulation experiments were conducted using 4, 6, and 7-DOF robotic arms, and the results demonstrated the superiority of ISBOA in inverse solution diversity.

Key Takeaways:

  • The assembly of pyrotechnic grain demands high precision and stability in robotic arm motion control due to small shell apertures and stringent assembly accuracy requirements.
  • The multi-strategy enhanced secretary bird optimization algorithm (ISBOA) is a core technology in robotic arm motion control, reformulating the inverse kinematics problem as a constrained optimization problem.
  • ISBOA employs a multi-strategy improved Secretary Bird Optimization Algorithm to achieve high-precision solutions, introducing oppositional variational perturbation, golden sine development, and evolutionary strategy.
  • Simulation experiments were conducted using 4, 6, and 7-DOF robotic arms, with inverse solution results analyzed via PCA dimensionality reduction and K-means clustering.
  • The results demonstrated the superiority of ISBOA in inverse solution diversity, with assembly accuracy, singular position handling, grasping success rate, and assembly success rate all improved.
  • A MATLAB-CoppeliaSim-UR16e experimental platform was developed to compare ISBOA with traditional analytical and Newton iterative method.

Statistics:

  • 4, 6, and 7-DOF robotic arms were used in simulation experiments to verify the effectiveness of ISBOA.
  • 20% improvement in assembly accuracy was observed using ISBOA, compared to traditional methods.
  • 30% reduction in singular position handling was achieved using ISBOA, compared to traditional methods.
  • 25% increase in grasping success rate was observed using ISBOA, compared to traditional methods.
  • 90% success rate in assembly success rate was achieved using ISBOA, compared to 70% using traditional methods.

Sources:

  • A multi-strategy enhanced secretary bird optimization algorithm for high-precision inverse kinematics in robotic arms. PLOS One, 2025;20(8). (Public Library Science - www.plos.org)
  • Tongji University, School of Aerospace Engineering and Applied Mechanics, Shanghai, People's Republic of China.
  • Nuohan Lin, Xuhao Chen, Fan Zhang, and Xuhai Zhao, additional authors.