عنوان المقالة: Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
ا.د عيسى احمد عبد | Prof.Dr. Issa Ahmed Abed | 6620
نوع النشر
مجلة علمية
المؤلفون بالعربي
المؤلفون بالإنجليزي
Abed, I. A., Koh, S. P., Sahari, K. S. M., Tiong, S. K., & Yap, D. F. W
الملخص الانجليزي
A comparison study between Electromagnetism-Like Algorithm (EM) and Genetic Algorithm (GA) has been presented in this work to solve the Inverse Kinematics (IK) of a four-link planar robot manipulator. The comparison is focused on some points for both algorithms like the accuracy of the results and the speed of convergence. Different target points have been taken to check the performance of each algorithm to solve the IK problem. The results showed that EM algorithm needs less population size and number of generations to get the true solution. There are multiple robot configurations at the goal points and both algorithms are able to find these solutions at each point. Self developed software simulator is used to display some of these solutions at each goal position
تاريخ النشر
01/01/2012
الناشر
IDOSI Publications
رقم المجلد
رقم العدد
الكلمات المفتاحية
Inverse kinematics % Real coded genetic algorithm % Attraction-repulsion mechanism % Planar manipulator
رجوع