Application of Meta Heuristic Algorithms for Optimization of Inverse Kinematics of a 5D Robotic Manipulator

摘要: Traditional methods of optimization are more complex and quite expensive for solving inverse kinematics problems when the degree of freedom of a robot increases. In the present work, forward and inverse kinematic model of five degree of freedom (5D) industrial manipulator for various applications, is developed using the homogeneous transformation matrices and the Denavit-Hartenberg (DH) parameters. The objective of such non-standard 5D robot is to reduce the positional error among the specified target points and robot end-effector positions, with reference to the joint angular displacements which are employed for translating the robot end-effector to the target points in the Cartesian space. Different traditional and meta-heuristic algorithms (MH) are employed to solve the problem and the obtained results are compared for the positional error of end-effector. From the results, it is found that simulated …