Altı Serbestlik Dereceli Robot Manipülatörün Ters Kinematik Analizi Için Gko Ve Çdde Algoritmalarının Karşılaştırmalı Analizi

Abstract

Robot manipülatörlerinin eklem sayıları artmasıyla veya geometrik yapılarından kaynaklı manipülatörün ters kinematik analizinin yapılması zorlaşır. Bu durumda akıllı algoritmalara başvurulur. Bu çalışmada altı serbestlik derecesine (SD) sahip Mitsubishi Melfa RV-7FL-D robot manipülatörün ters kinematik analizi Gri Kurt Optimizasyon (GKO) algoritması ve Çoklu Denemeli Diferansiyel Evrim (ÇDDE) algoritması kullanılarak yapılmıştır. İlk adım için 3 adet senaryo tasarlanarak bu senaryolara ait hedeflenen konum değerleri belirlenmiştir. Ardından MATLAB üzerinde, çalışmada kullanılan robot manipülatörünün kinematiği matematiksel olarak modellenmiştir. Manipülatörün uç-efektörünün hedeflenen konuma gelmesini sağlamak için gerekli eksen açıları akıllı algoritmalar ile bulunmuştur. Geleneksel ve Geliştirilmiş GKO algoritmasıyla elde edilen sonuçlar ÇDDE algoritmasıyla elde edilen sonuçlarla karşılaştırılmıştır. Optimizasyon sonucu alınan veriler değerlendirildiğinde ÇDDE algoritmasının çok daha hızlı eklem açı değerlerini verdiği sonucuna varılmıştır. Optimizasyon algoritmaları ile yapılan ters kinematik analizi için literatür taraması yapıldığında ÇDDE algoritmasının kullanıldığı bir çalışmaya rastlanmamıştır. Çalışma, ÇDDE algoritmasını kullanarak optimizasyonla ters kinematik analizinde literatüre katkı sağlamayı amaçlamaktadır.

Keywords

• Gri kurt optimizasyonu
• çoklu denemeli diferansiyel evrim
• ters kinematik analizi
• robot manipülatör

Comparative Analysis of Gwo and Mtde Algorithms for Inverse Kinematic Analysis of Six Dof Robot Manipulator

Abstract

With the increase in the number of joints of robot manipulators or due to their geometric structures, inverse kinematic analysis of the manipulator becomes difficult. In this case, intelligent algorithms are used. In this study, inverse kinematic analysis of the six-degrees-of-freedom (DOF) Mitsubishi Melfa RV-7FL-D robot manipulator was performed using Grey Wolf Optimization (GWO) algorithm and Multi-trial Vector-based Differential Evolution (MTDE) algorithm. The initial step involved designing three scenarios and determining their respective targeted position values. Subsequently, the mathematical modelling of the robot manipulator used in the study was conducted on MATLAB. Intelligent algorithms were employed to determine the axis angles necessary to ensure that the manipulator's end-effector reaches the targeted position. The results obtained with the traditional and improved GWO algorithm were compared with the results obtained with the MTDE algorithm. When the data obtained as a result of the optimization were evaluated, it has been observed that the MTDE algorithm gave much faster joint angle values. When the literature was searched for the inverse kinematics analysis made with optimization algorithms, no study was found in which the MTDE algorithm was used. The study aims to contribute to the literature in inverse kinematics analysis with optimization using the MTDE algorithm.

Keywords

• Grey wolf optimization
• multi-trial vector-based differential evolution
• inverse kinematic analysis
• robot manipulator

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