Application of Cuckoo Search Algorithm in Optimal Solution of Robot Inverse Kinematics

Abstract

Forward kinematics and inverse kinematics are two aspects of the robot kinematics solution, and the optimization of the inverse kinematics of robots is the most important and difficult part of robot kinematics. Parameters for each link of the robot need to be identified according to the position and orientation in both of teaching programming and interpolation. In view of the fact that to obtain the analytic solutions of the inverse kinematics of robots must meet special conditions, this paper used a general solution, cuckoo search algorithm, to get the optimization of inverse kinematics without any of special conditions. Simulation results show that, the algorithm can be effectively applied to the robot inverse kinematics, and is able to achieve sufficient accuracy.