TY - JFULL AU - J. Ramírez A. and A. Rubiano F. PY - 2011/12/ TI - Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms T2 - International Journal of Mechanical and Mechatronics Engineering SP - 2228 EP - 2234 VL - 5 SN - 1307-6892 UR - https://publications.waset.org/pdf/5955 PU - World Academy of Science, Engineering and Technology NX - Open Science Index 59, 2011 N2 - 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. ER -