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Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms

Authors: J. Ramírez A., A. Rubiano F.


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.

Keywords: Optimization, Genetic Algorithm, robot manipulator, Direct Kinematic, InverseKinematic

Digital Object Identifier (DOI):

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