Calculation of the inverse kinematics solution of the 7-DOF redundant robot manipulator by the firefly algorithm and statistical analysis of the results in terms of speed and accuracy. Issue 5 (3rd May 2020)

• Record Type: Journal Article
• Authors: Dereli, Serkan; Köker, Raşit
• Is Part Of: Inverse problems in science and engineering. Volume 28:Issue 5(2020)
• Page Start: 601
• Page End: 613
• Publication Date: 2020-05-03
• Subjects: Firefly algorithm -- swarm intelligence -- inverse kinematics -- redundant robot manipulator -- 7-dof; Engineering mathematics -- Periodicals; Inverse problems (Differential equations) -- Periodicals; 620.001515357
• DOI: 10.1080/17415977.2019.1602124
• Languages: English
• ISSNs: 1741-5977

Abstract

ABSTRACT: In this study, the inverse kinematics solution of a 7-DOF redundant robot manipulator was performed by using firefly algorithm that is a swarm optimization technique. In order to show the power of this technique, a redundant robotic arm which is inadequate inverse kinematic solution by conventional methods has been chosen. Both speed and accuracy are two important factors in robotic studies. For this reason, the comparison of the method used in this study in terms of speed and accuracy has been carried out in depth. The scenario used is as follows: Firstly, the position equations of this manipulator are derived with the DH parameters. Afterward, the position of the end effector is obtained in the work space according to the forward kinematic calculation. Finally, the joint angles that will be directed to the calculated position values with the least error are obtained by the firefly algorithm and the obtained result is compared with other swarm algorithms such as particle swarm optimization and artificial bee colony.