عنوان المقالة: Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel

ا.د عيسى احمد عبد | Prof.Dr. Issa Ahmed Abed | 6870

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Publication Type

Journal

Arabic Authors

English Authors

Issa Ahmed Abed, Johnny Siaw Paw Koh, Khairul Salleh Mohamed Sahari, S. K. Tiong, Nadia Mei Lin Tan

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.

Publication Date

1/1/2014

Volume No

Issue No

Keywords

Attraction-repulsion mechanism, deviation, local search, planar robot