Meta-Heuristics Based Inverse Kinematics of Robot Manipulator’s Path Tracking Capability Under Joint Limits

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dc.contributor.authorKanagaraj, Ganesan
dc.contributor.authorSheik Masthan, SAR
dc.contributor.authorYu, Vincent F
dc.coverage.issue1cs
dc.coverage.volume28cs
dc.date.accessioned2022-06-30T07:01:57Z
dc.date.available2022-06-30T07:01:57Z
dc.date.issued2022-06-30cs
dc.description.abstractIn robot-assisted manufacturing or assembly, following a predefined path became a critical aspect. In general, inverse kinematics offers the solution to control the movement of manipulator while following the trajectory. The main problem with the inverse kinematics approach is that inverse kinematics are computationally complex. For a redundant manipulator, this complexity is further increased. Instead of employing inverse kinematics, the complexity can be reduced by using a heuristic algorithm. Therefore, a heuristic-based approach can be used to solve the inverse kinematics of the robot manipulator end effector, guaranteeing that the desired paths are accurately followed. This paper compares the performance of four such heuristic-based approaches to solving the inverse kinematics problem. They are Bat Algorithm (BAT), Gravitational Search Algorithm (GSA), Particle Swarm Optimization (PSO), and Whale Optimization Algorithm (WOA). The performance of these algorithms is evaluated based on their ability to accurately follow a predefined trajectory. Extensive simulations show that BAT and GSA outperform PSO and WOA in all aspects considered in this work related to inverse kinematic problems.en
dc.formattextcs
dc.format.extent41-54cs
dc.format.mimetypeapplication/pdfen
dc.identifier.citationMendel. 2022 vol. 28, č. 2, s. 41-54. ISSN 1803-3814cs
dc.identifier.doi10.13164/mendel.2022.1.041en
dc.identifier.issn2571-3701
dc.identifier.issn1803-3814
dc.identifier.urihttp://hdl.handle.net/11012/208128
dc.language.isoencs
dc.publisherInstitute of Automation and Computer Science, Brno University of Technologycs
dc.relation.ispartofMendelcs
dc.relation.urihttps://mendel-journal.org/index.php/mendel/article/view/173cs
dc.rightsCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International licenseen
dc.rights.accessopenAccessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0en
dc.subjectInverse Kinematicsen
dc.subjectRedundant Robot Manipulatoren
dc.subjectPath Trackingen
dc.subjectMeta-Heuristic Algorithmen
dc.subjectBATen
dc.subjectParticle Swarm optimizationen
dc.subjectGravitational Searchen
dc.subjectWhale Optimizationen
dc.titleMeta-Heuristics Based Inverse Kinematics of Robot Manipulator’s Path Tracking Capability Under Joint Limitsen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.affiliatedInstitution.facultyFakulta strojního inženýrstvícs
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