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Abstract
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Article Information:
Solving the Inverse Kinematics for Robot Manipulators using Modified Electromagnetism-like Algorithm with Record to Record Travel
Issa Ahmed Abed, S.P. Koh, K.S.M. Sahari, S.K. Tiong and Nadia M.L. Tan
Corresponding Author: Issa Ahmed Abed
Submitted: August 19, 2013
Accepted: August 27, 2013
Published: May 15, 2014 |
Abstract:
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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.
Key words: Attraction-repulsion mechanism, deviation, local search, planar robot, , ,
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Cite this Reference:
Issa Ahmed Abed, S.P. Koh, K.S.M. Sahari, S.K. Tiong and Nadia M.L. Tan, . Solving the Inverse Kinematics for Robot Manipulators using Modified Electromagnetism-like Algorithm with Record to Record Travel. Research Journal of Applied Sciences, Engineering and Technology, (19): 3986-3994.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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