A PSO Inverse Kinematic Solution Algorithm for Dulcimer Music Robot Based on Improved Compliance Criterion

The dulcimer music robot is a heterogeneous robot that does not satisfy the Pieper criterion. In this paper, a PSO inverse solution algorithm based on the improved compliance criterion is developed and designed for the problem that the dulcimer music robot cannot find the inverse kinematic analytical solution, combining the robot arm joint constraints and aiming at smooth operation and achieving point accuracy, which is of great research significance to achieve fast and smooth tapping of the dulcimer music robot. The method was simulated in MATLAB for different trajectories. The experimental results show that the tracking trajectory curve is continuous and smooth, and the tracking error accuracy is kept within 10
⁻³
, which has good trajectory tracking performance. And the joint velocity fluctuation is small, which meets the requirement of robot motion stability.