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

Issa Ahmed Abed; S. P. Koh; K. S.M. Sahari; S. K. Tiong; Nadia M.L. Tan

doi:10.19026/rjaset.7.759

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

Issa Ahmed Abed, S. P. Koh, K. S.M. Sahari, S. K. Tiong, Nadia M.L. Tan

Research output: Journal Publication › Article › peer-review

2 Citations (Scopus)

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.

Original language	English
Pages (from-to)	3986-3994
Number of pages	9
Journal	Research Journal of Applied Sciences, Engineering and Technology
Volume	7
Issue number	19
DOIs	https://doi.org/10.19026/rjaset.7.759
Publication status	Published - 2014
Externally published	Yes

Keywords

Attraction-repulsion mechanism
Deviation
Local search
Planar robot

ASJC Scopus subject areas

General Computer Science
General Engineering

Access to Document

10.19026/rjaset.7.759

Cite this

@article{e5c343936e2244f283972bd6fdbe339b,

title = "Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel",

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.",

keywords = "Attraction-repulsion mechanism, Deviation, Local search, Planar robot",

author = "Abed, {Issa Ahmed} and Koh, {S. P.} and Sahari, {K. S.M.} and Tiong, {S. K.} and Tan, {Nadia M.L.}",

year = "2014",

doi = "10.19026/rjaset.7.759",

language = "English",

volume = "7",

pages = "3986--3994",

journal = "Research Journal of Applied Sciences, Engineering and Technology",

issn = "2040-7459",

publisher = "Maxwell Scientific Publications",

number = "19",

}

TY - JOUR

T1 - Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel

AU - Abed, Issa Ahmed

AU - Koh, S. P.

AU - Sahari, K. S.M.

AU - Tiong, S. K.

AU - Tan, Nadia M.L.

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Attraction-repulsion mechanism

KW - Deviation

KW - Local search

KW - Planar robot

UR - http://www.scopus.com/inward/record.url?scp=84901981275&partnerID=8YFLogxK

U2 - 10.19026/rjaset.7.759

DO - 10.19026/rjaset.7.759

M3 - Article

AN - SCOPUS:84901981275

SN - 2040-7459

VL - 7

SP - 3986

EP - 3994

JO - Research Journal of Applied Sciences, Engineering and Technology

JF - Research Journal of Applied Sciences, Engineering and Technology

IS - 19

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this