Commenced in January 2007
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Search results for: InverseKinematic
1 Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms
Authors: J. RamÃrez A., A. Rubiano F.
Abstract:
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: Direct Kinematic, Genetic Algorithm, InverseKinematic, Optimization, Robot Manipulator
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