%0 Journal Article
	%A J. Ramírez A. and  A. Rubiano F.
	%D 2011
	%J International Journal of Mechanical and Mechatronics Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 59, 2011
	%T Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms
	%U https://publications.waset.org/pdf/5955
	%V 59
	%X In this paper the direct kinematic model of a multiple
applications three degrees of freedom industrial manipulator, was
developed using the homogeneous transformation matrices and the
Denavit - Hartenberg parameters, likewise the inverse kinematic
model was developed using the same method, verifying that in the
workload border the inverse kinematic presents considerable errors,
therefore a genetic algorithm was implemented to optimize the model
improving greatly the efficiency of the model.
	%P 2229 - 2234