Application of Chaotic Based Flower Pollination Algorithm to Solve Inverse Kinematics Problem in Serial Robot Manipulator

Öz

The solution of inverse kinematics problems is one of the main problems for serial robot manipulators. In this study, a chaotic-based algorithm has been developed to minimize the complexity of solving the inverse kinematics problem of a series manipulator with 7 degrees of freedom. It is aimed to increase the efficiency of the global and local search features of the original algorithm using the flower pollination algorithm modified with the Henon chaotic map. For the simulation studies, to verify performance of modified algorithms, three different desired position vectors are selected as P1 [−25 100 50], P2 [24 50 100] and P3 [-30 30 80] in meter. In addition, these algorithms were compared according to the end-effector position error and the solution time. The simulation results showed that the chaotic-based algorithms can be effectively used for the inverse kinematic solutions of the serial robot manipulator.

Anahtar Kelimeler

• Robot manipulator
• chaotic map
• flower pollination algorithm
• position error

Seri Robot Manipülatöründe Ters Kinematik Problemi Çözmek İçin Kaotik Tabanlı Çiçek Tozlaşma Algoritmasının Uygulanması

Öz

Ters kinematik problemlerinin çözümü, seri robot manipülatörlerinin temel problemlerinden biridir. Bu çalışmada, 7 serbestlik dereceli bir seri manipülatörün ters kinematik problemini çözme karmaşıklığını en aza indirmek için kaotik tabanlı bir algoritma geliştirilmiştir. Henon kaotik harita ile modifiye edilen çiçek tozlaşma algoritması kullanılarak orijinal algoritmanın global ve lokal arama özelliklerinin etkinliği arttırılması amaçlanmıştır. Simülasyon çalışmaları için, modifiye edilmiş algoritmaların performansını doğrulamak için metre cinsinden P1[−25 100 50], P2 [50 − 25 75] ve P3 [50 − 25 75] olmak üzere üç farklı istenen konum vektörü seçilmiştir. Ayrıca bu algoritmalar son efektörün konum hatası ve çözüm süresine göre karşılaştırılmıştır. Simülasyon sonuçları, seri robot manipülatörünün ters kinematik çözümleri için kaotik tabanlı algoritmaların etkin bir şekilde kullanılabileceğini göstermiştir.

Anahtar Kelimeler

• Robot manipulator
• kaotik harita
• çiçek tozlaşma algoritması
• konum hatası

Kaynakça

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