Solution of Inverse Kinematics Problem using Genetic Algorithms

Authors

Shaher Momani, Department of Mathematics, Faculty of Science, The University of Jordan, Amman 11942, Jordan\\ Nonlinear Analysis and Applied Mathematics (NAAM) Research Group, Faculty of Science, King Abdulaziz University, Jeddah 21589, Saudi ArabiaFollow
Zaer S. Abo-Hammour, Department of Mechatronics Engineering, The University of Jordan, Amman 11942, JordanFollow
Othman MK. Alsmadi, Department of Electrical Engineering, The University of Jordan, Amman 11942, JordanFollow

Author Country (or Countries)

Saudi Arabia

Abstract

In this paper, the solution of inverse kinematics problem of robot manipulators using genetic algorithms (GA) is presented. Two versions of genetic algorithms are used which include the conventional GA and the continuous GA. The inverse kinematics problem is formulated as an optimization problem based on the concept of minimizing the accumulative path deviation in the absence of any obstacles in the workspace. Simulation results show that the continuous GA outperforms the conventional GA from all aspects. The superiority of the continuous GA is seen in that it will always provide smooth and faster solutions as compared with the conventional GA.

Digital Object Identifier (DOI)

http://dx.doi.org/10.18576/amis/100122

Recommended Citation

Momani, Shaher; S. Abo-Hammour, Zaer; and MK. Alsmadi, Othman (2016) "Solution of Inverse Kinematics Problem using Genetic Algorithms," Applied Mathematics & Information Sciences: Vol. 10: Iss. 1, Article 22.
DOI: http://dx.doi.org/10.18576/amis/100122
Available at: https://digitalcommons.aaru.edu.jo/amis/vol10/iss1/22