Prediction of Inverse Kinematics for a 6-DOF Industrial Robot Arm Using Soft Computing Techniques

Mahanta, Golak Bihari; Deepak, B. B. V. L.; Dileep, M. V.; Biswal, Bibhuti Bhusan; Pattanayak, Sujit Kumar

doi:10.1007/978-981-13-1595-4_42

Cited by 13 publications

(9 citation statements)

References 16 publications

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“…The joint angles for the robotic arm for the position error and absolute error have been calculated and compared using firefly algorithm and ABC algorithm. Firefly uses the principle of absorption and attraction of the fireflies [16], [17], [30].…”

Section: Fig3: Workpace (Articulated Arm)mentioning

confidence: 99%

“…In the 6-DOF robotic arm, location and orientation of the end-effector were determined respectively, with the help of the first three joints and the last three joints, which are convenient to control and teaching [7], [8]. Soft computing techniques have been used by researchers are MATLAB, fuzzy logic, adaptive neuro-fuzzy inference system (ANFIS), genetic algorithm (GA) [6], [9], [11], [17], differential evolution, ant colony, swarm, and evolutionary algorithms (EA) [5], [6], [16], [18], [24], [30] etc. to optimized results.…”

Section: Introductionmentioning

confidence: 99%

“…Evolutionary algorithms find applications in various multimodal and multidimensional constrained optimizations. They are based on the principle of population [24], [30] II. METHODOLOGY Denavit and Hartenberg have given four general parameters to get the kinematics equations of the different DOF robotic manipulators.…”

Section: Introductionmentioning

confidence: 99%

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Kinematics Analysis of 5R axis using Evolutionary Algorithms

Kumar*¹,

Kumar²,

Kumar³

2019

IJRTE

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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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Section: Fig3: Workpace (Articulated Arm)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Kinematics Analysis of 5R axis using Evolutionary Algorithms

Kumar*¹,

Kumar²,

Kumar³

2019

IJRTE

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“…The firefly is a swarm technique where fireflies get attracted by the light intensity of other fireflies [5], [27]- [30].…”

Section: Simulationmentioning

confidence: 99%

Kinematics Analysis of Manipulator using Soft Computing Technique

K.*,

K.,

2019

IJEAT

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In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics. Kinematics provides the rational explication of a robotic manipulator. For the analysis of industrial robotics manipulator a particular type of kinematics model is required. The Denavit Hartenberg criterion has been used to solve the kinematics equations. MATLAB, Firefly Algorithm (FFA) and Roboanalyzer have been used to get the home position and differences in error at different values of six-DOF manipulator. Error can be optimized to as low as 10-17with the firefly algorithm.

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“…Çavdar et al [20] have taken a new approach with the change in the search for food sources in the artificial bee colonies and they have successfully obtained the inverse kinematic solution of a six-joint puma robot manipulator. Mahanta et al [31] have presented the application of soft computing techniques such as ABC, PSO and FA to obtain the inverse kinematics of Kawasaki RS06L 6-DOF robotic manipulator for a pick and place operation. Rokbani et al [32] proposed a new heuristic approach based on firefly algorithm for inverse kinematic solution of a three-jointed robot arm.…”

Section: Introductionmentioning

confidence: 99%

Calculation of the inverse kinematics solution of the 7-DOF redundant robot manipulator by the firefly algorithm and statistical analysis of the results in terms of speed and accuracy

Dereli

Köker

2019

Inverse Problems in Science and Engineering

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In this study, the inverse kinematics solution of a 7-DOF redundant robot manipulator was performed by using firefly algorithm that is a swarm optimization technique. In order to show the power of this technique, a redundant robotic arm which is inadequate inverse kinematic solution by conventional methods has been chosen. Both speed and accuracy are two important factors in robotic studies. For this reason, the comparison of the method used in this study in terms of speed and accuracy has been carried out in depth. The scenario used is as follows: Firstly, the position equations of this manipulator are derived with the DH parameters. Afterward, the position of the end effector is obtained in the work space according to the forward kinematic calculation. Finally, the joint angles that will be directed to the calculated position values with the least error are obtained by the firefly algorithm and the obtained result is compared with other swarm algorithms such as particle swarm optimization and artificial bee colony.

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Prediction of Inverse Kinematics for a 6-DOF Industrial Robot Arm Using Soft Computing Techniques

Cited by 13 publications

References 16 publications

Kinematics Analysis of 5R axis using Evolutionary Algorithms

Kinematics Analysis of 5R axis using Evolutionary Algorithms

Kinematics Analysis of Manipulator using Soft Computing Technique

Calculation of the inverse kinematics solution of the 7-DOF redundant robot manipulator by the firefly algorithm and statistical analysis of the results in terms of speed and accuracy

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