toz, metin düzce university - department of computer engineering, Turkey

INVERSE KINEMATIC SOLUTION OF A 6 DOF SERIAL ROBOT MANIPULATOR WITH OFFSET WRIST BY USING ALO ALGORITHM

41745

The inverse kinematic problem is one of the most difficult problems to solve analytically for the serial robot manipulators. Its solution is highly related to the types and numbers of the joints of the manipulators. In this study the inverse kinematic problem of a six Degrees Of Freedoms (DOF) serial robot manipulator with offset wrist is solved by using Ant Lion Optimization (ALO) algorithm. In order to evaluate the performance of the algorithm, five workspace points are randomly selected and the inverse kinematic problem of the manipulator for these points are solved by the ALO algorithm. The obtained results are assessed according to the positioning error and the solution time. It is shown that the ALO algorithm can be effectively used for the solution of the inverse kinematic problem of the serial robot manipulators in terms of the both of the evaluating criteria.

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Inverse kinematic problem , offset wrist , ALO algorithm , 6 DOF

Sigma Journal Of Engineering and Natural Sciences

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