Open AccessDE-based Algorithm for Solving the Inverse Kinematics on a Robotic Arm Manipulators
Author(s) -
T. A.O. Linh,
Trung Nguyen,
Tinh Nguyen,
Hiroshi Hasegawa,
Dai Watanabe
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1922/1/012008
Subject(s) - inverse kinematics , kinematics , heuristic , robotics , inverse , trajectory , robot , degrees of freedom (physics and chemistry) , robot kinematics , forward kinematics , mathematics , computer science , algorithm , inverse problem , mathematical optimization , control theory (sociology) , artificial intelligence , mobile robot , geometry , mathematical analysis , control (management) , classical mechanics , quantum mechanics , astronomy , physics
DE algorithm method for Solving the inverse kinematics is a fundamental problem in the robotics field especially in controlling industrial robots to move following a pre-defined trajectory. In this paper, we proposed to use a meta-heuristic optimization algorithm, namely Differential Evolution (DE), to solve the Inverse Kinematic (IK) problem for a five-degree-of-freedom (DOF) articulated robot. By considering joints’ angles as continuous variables, the process of solving the Inverse Kinematic problem for the robot with the optimal algorithm has been significantly improved in terms of accuracy, execution time, standard deviation (STD) and the number of iterations needed as well. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The simulation results for three case studies showed that our method can solve the inverse kinematics problem efficiently not only for minimum errors but also for smooth value of the joints’ variables.