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

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

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 gener...

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Main Authors: Abed, I.A., Koh, S.P., Sahari, K.S.M., Tiong, S.K., Tan, N.M.L.
Published: 2018
Online Access:http://dspace.uniten.edu.my/jspui/handle/123456789/6985
id uniten-123456789-6985
recordtype eprints
spelling uniten-123456789-69852018-01-11T08:27:44Z Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel Abed, I.A. Koh, S.P. Sahari, K.S.M. Tiong, S.K. Tan, N.M.L. 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. © Maxwell Scientific Organization, 2014. 2018-01-11T08:27:44Z 2018-01-11T08:27:44Z 2014 http://dspace.uniten.edu.my/jspui/handle/123456789/6985
repository_type Digital Repository
institution_category Local University
institution Universiti Tenaga Nasional
building UNITEN Institutional Repository
collection Online Access
description 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. © Maxwell Scientific Organization, 2014.
author Abed, I.A.
Koh, S.P.
Sahari, K.S.M.
Tiong, S.K.
Tan, N.M.L.
spellingShingle Abed, I.A.
Koh, S.P.
Sahari, K.S.M.
Tiong, S.K.
Tan, N.M.L.
Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
author_facet Abed, I.A.
Koh, S.P.
Sahari, K.S.M.
Tiong, S.K.
Tan, N.M.L.
author_sort Abed, I.A.
title Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
title_short Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
title_full Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
title_fullStr Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
title_full_unstemmed Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
title_sort solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
publishDate 2018
url http://dspace.uniten.edu.my/jspui/handle/123456789/6985
first_indexed 2018-09-05T07:49:53Z
last_indexed 2018-09-05T07:49:53Z
_version_ 1610753028603772928

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