A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics
|International Journal of Computer Science and Engineering|
|© 2016 by SSRG - IJCSE Journal|
|Volume 3 Issue 11|
|Year of Publication : 2016|
|Authors : Enrique Rodriguez, Baidya Nath Saha, Jesús Romero-Hdz, David Ortega|
Enrique Rodriguez, Baidya Nath Saha, Jesús Romero-Hdz, David Ortega, "A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics" SSRG International Journal of Computer Science and Engineering 3.11 (2016): 61-69.
Enrique Rodriguez, Baidya Nath Saha, Jesús Romero-Hdz, David Ortega,(2016). A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics. SSRG International Journal of Computer Science and Engineering 3(11), 61-69
This paper presents the robot inverse kinematics solution for four Degrees of Freedom (DOF) through Differential Evolution (DE) algorithm. DE can handle real numbers (float, double) which leads more powerful than Genetic Algorithm (GA). We propose a multi-objective fitness function that makes an attempt to minimize the positional error and maximum angular displacement of the robot joints. Maximum angular displacement based fitness function adopt the constraints on different unrealistic rotational movement of the manipulator. We employ an equitable treatment of both fitness functions while maximizing these two over generations that iteratively selects the optimal weights of these two fitness functions automatically. Trigonometric mutation and binomial crossover improve the performance of the conventional DE technique. We compared the results of proposed multi-objective DE with GA and Algebraic Method (AM). Proposed multi-objective DE algorithm obtains less positional error than conventional DE, GA and AM while meeting the rotational constraints of the manipulator’s joints.
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A Multi-objective Differential Evolution Algorithm for Robot Inverse Kinematics.