A hybrid improved BRO algorithm and its application in inverse kinematics of 7R 6DOF robot

Abstract

To advance the calculation performance of the battle royale optimization algorithm (BRO), a hybrid improved BRO algorithm (HBC) is proposed in this paper. The level mechanism of the chicken swarm optimization algorithm (CSO) is integrated into the BRO algorithm to divide all into elite players and ordinary players, and the level relationship of different players is established. Then, an elite player update method of random exploring and directional update in a small range is proposed to improve the development ability. The update method of ordinary players improved, the update mechanism of elite random guidance is introduced to make full use of the excellent location information in the population. The performance verification experiment of the HBC algorithm is carried out on 20 benchmark functions and a practical project. Comparing with several other algorithms, the computational performance of the HBC algorithm is the best. Furthermore, the HBC algorithm is applied to solve the inverse kinematics of the 7R 6DOF robot. The experimental results show that the HBC algorithm effectively improves the average convergence accuracy and reduces the running time, compared with the BRO algorithm. This fully shows that the HBC algorithm is more competitive in stability, calculation accuracy, and speed.