DE-based Algorithm for Solving the Inverse Kinematics on a Robotic Arm Manipulators

作     者：B=UI Tam TAO Linh Trung Nguyen Tinh Nguyen Hiroshi Hasegawa Dai Watanabe 

作者机构：School of Mechanical Engineering Hanoi University of Science and Technology Vietnam. Department of Machinery and Control System Shibaura Institute of Technology Japan. 

出 版 物：《Journal of Physics: Conference Series》 

年 卷 期：2021年第1922卷第1期

学科分类：07[理学] 0702[理学-物理学] 

摘      要：DE algorithm method for Solving the inverse kinematics is a fundamental problem in the robotics field especially in controlling industrial robots to move following a pre-defined trajectory. In this paper, we proposed to use a meta-heuristic optimization algorithm, namely Differential Evolution (DE), to solve the Inverse Kinematic (IK) problem for a five-degree-of-freedom (DOF) articulated robot. By considering joints angles as continuous variables, the process of solving the Inverse Kinematic problem for the robot with the optimal algorithm has been significantly improved in terms of accuracy, execution time, standard deviation (STD) and the number of iterations needed as well. The algorithm has been applied to solve the Inverse Kinematic problem on the 5-Degree of Freedom 5R robot model. The simulation results for three case studies showed that our method can solve the inverse kinematics problem efficiently not only for minimum errors but also for smooth value of the joints variables.