Comparison of four different heuristic optimization algorithms for the inverse kinematics solution of a real 4-DOF serial robot manipulator

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dc.contributor.authorAyyıldız, Mustafa
dc.contributor.authorÇetinkaya, Kerim
dc.date.accessioned2020-04-30T22:41:18Z
dc.date.available2020-04-30T22:41:18Z
dc.date.issued2016
dc.departmentDÜ, Teknik Eğitim Fakültesi, Makine Eğitimi Bölümüen_US
dc.descriptionWOS: 000374578800002en_US
dc.description.abstractIn this study, a 4-degree-of-freedom (DOF) serial robot manipulator was designed and developed for the pick-and-place operation of a flexible manufacturing system. The solution of the inverse kinematics equation, one of the most important parts of the control process of the manipulator, was obtained by using four different optimization algorithms: the genetic algorithm (GA), the particle swarm optimization (PSO) algorithm, the quantum particle swarm optimization (QPSO) algorithm and the gravitational search algorithm (GSA). These algorithms were tested with two different scenarios for the motion of the manipulator's end-effector. One hundred randomly selected workspace points were defined for the first scenario, while a spline trajectory, also composed of one hundred workspace points, was used for the second. The optimization algorithms were used for solving of the inverse kinematics of the manipulator in order to successfully move the end-effector to these workspace points. The four algorithms were compared according to the execution time, the end-effector position error and the required number of generations. The results showed that the QPSO could be effectively used for the inverse kinematics solution of the developed manipulator.en_US
dc.description.sponsorshipKarabuk University Research Project DirectorateKarabuk University [KBU-BAP-11-2-DR-001]en_US
dc.description.sponsorshipThe authors wish to thank the Karabuk University Research Project Directorate, Project No. KBU-BAP-11-2-DR-001, for their financial support of this work.en_US
dc.identifier.doi10.1007/s00521-015-1898-8en_US
dc.identifier.endpage836en_US
dc.identifier.issn0941-0643
dc.identifier.issn1433-3058
dc.identifier.issue4en_US
dc.identifier.scopusqualityQ1en_US
dc.identifier.startpage825en_US
dc.identifier.urihttps://doi.org/10.1007/s00521-015-1898-8
dc.identifier.urihttps://hdl.handle.net/20.500.12684/3162
dc.identifier.volume27en_US
dc.identifier.wosWOS:000374578800002en_US
dc.identifier.wosqualityQ2en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherSpringer London Ltden_US
dc.relation.ispartofNeural Computing & Applicationsen_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectHeuristic optimization methodsen_US
dc.subjectInverse kinematicsen_US
dc.subjectSerial roboten_US
dc.titleComparison of four different heuristic optimization algorithms for the inverse kinematics solution of a real 4-DOF serial robot manipulatoren_US
dc.typeArticleen_US

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