INVERSE KINEMATIC SOLUTION OF OBSTACLE AVOIDANCE REDUNDANT ROBOT MANIPULATOR BY BAT ALGORITHMS

Ganesan Kanagaraj, Shahul Abdul Rahim Sheik Masthan, and Vincent F. Yu

Keywords

Inverse kinematics, obstacle avoidance, redundant robot manipula-tor, heuristic optimization methods

Abstract

Solving inverse kinematic problem of redundant robot manipulator has become a major study concern in the field of robotic research. In this article, two variants of bat algorithm, namely BA-I and BA-II, are employed to find robot manipulator’s path. The primary objective here is to find the optimal joint angles of each link that will achieve minimal error (maximum accuracy) at the target location of the robot end-effector while preventing collision with workspace obstacles. To prove the soundness of the proposed algorithm, simulation experiments are done for the motion of manipulator end- effector in obstacle-free and cluttered scenarios with three levels of accuracy. The performance of the algorithms was tested based on execution time, solution quality and the number of generations by performing various simulation experiments. Results of simulations suggest that BA-II demonstrates superior performance in terms of solution precision and robustness. It achieves target positions at a faster rate compared with the basic bat algorithm and BA-I.

Important Links:

Go Back