Abstract
A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to generate multiple robot configurations for the IK test performed at different end effect or positions. In addition, the comparison between the proposed MEMR and Genetic Algorithm (GA) was carried out using two mathematical test functions; De Jong and Rastrigin. The tests results show that the proposed MEMR is comparable in performance to GA in terms of both convergence speed and error rate.
Highlights
The kinematics problem represents the motion of the manipulator, but does not take into account the forces or torques that instigates the motion
From Eq (1) and Fig. 1 (Jha, 2009), the mapping from joint coordinates which are the set of all joint in the joint space to Cartesian coordinates which are the set of all Cartesian coordinates in the Cartesian space is called Forward Kinematics (FK) (Jha, 2009): where, Pcur = z(θ)
The geometric method can be used to find the forward equations for the n-DOF planar robot (Yahya et al, 2011; Abed et al, 2012) shown in Fig. 3 as follows: map the Cartesian configuration into corresponding joint angles, the Artificial Neural Network (ANN) is used to approximate the Inverse Kinematics relations of the robot manipulator
Summary
The kinematics problem represents the motion of the manipulator, but does not take into account the forces or torques that instigates the motion. (2000) proposed an improved approach upon finding the best configuration of the Artificial Neural Network (ANN), in order to solve the Inverse Kinematics of a 6- A modified Electromagnetism-like (EM) has been proposed which is used Record to language for the ANN architectures that are being Record Travel algorithm (RRT) as a local search.
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