Inverse Kinematics Solution for 5-DoF Robotic Manipulator using Meta-heuristic Techniques

Abstract

Robotic manipulators have become the key component in the automation industry because of their accuracy. Finding the inverse kinematic (IK) solution (to compute the joint angles for desired end-effector position and orientation) for a robot manipulator is the most challenging problem. Conventional approaches like numerical, geometric, and algebraic have failed to provide the solution due to redundancy/singularity present in IK. This paper presents the IK solution for the 5-DoFs manipu-lator using fourteen meta-heuristic techniques. The end-effector position is determined by solving Forward kinematics using the Denavit-Hartenberg (DH) parameters. The objective function is designed to minimize the Euclidean distance between the actual and desired position/orientation of the end-effector. Comparative analysis of these techniques is based on the computation time and positional error. Result shows that the differential evolution (DE) algorithm outperforms all other techniques in terms of Cartesian (4.42598 $\times \boldsymbol{1}\boldsymbol{0}^{-8}$ cm) and orientation (4.42598 $\times \boldsymbol{1}\boldsymbol{0}^{-8}$ rad) error. Whereas the grey wolf optimization (GWO) algorithm outperforms all in terms of computation time (0.308856 sec).