Kinematics Analysis of 5R axis using Evolutionary Algorithms | Zendy

Ashwani Kumar | Zendy; Vijay Kumar | Zendy; Darshan Kumar | Zendy

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Kinematics Analysis of 5R axis using Evolutionary Algorithms

Author(s) -

Ashwani Kumar,

Vijay Kumar,

Darshan Kumar

Publication year - 2019

Publication title -

international journal of recent technology and engineering (ijrte)

Language(s) - English

Resource type - Journals

ISSN - 2277-3878

DOI - 10.35940/ijrte.c6080.098319

Subject(s) - kinematics , workspace , revolute joint , forward kinematics , position (finance) , matlab , degrees of freedom (physics and chemistry) , inverse kinematics , firefly algorithm , computer science , evolutionary algorithm , algorithm , serial manipulator , kinematics equations , control theory (sociology) , mathematics , artificial intelligence , robot , parallel manipulator , robot kinematics , physics , control (management) , particle swarm optimization , finance , classical mechanics , quantum mechanics , economics , operating system , mobile robot

In this paper, we have represented the kinematics solution of five degrees of freedom articulated arm with five revolute joints using Evolutionary algorithm. DH parameters are used to obtain the kinematics analysis of the manipulator. Simulations are performed on the MATLAB to show the workspace of the robotic manipulators. Firefly and artificial bee colony algorithms (ABC) have been used for the minimization of errors. The position error and absolute error have been minimized to the acceptable level.

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