Ashwani, K. and Vijay, Banga K. and Darshan, K. (2020) Modelling and Comparative Analysis of 5R Manipulator Using Evolutionary Algorithms. In: Recent Developments in Engineering Research Vol. 2. B P International, pp. 107-124. ISBN 978-93-90206-88-9
Full text not available from this repository.Abstract
In this paper, the analysis and modeling of six joint axes of a robotic arm having three DOF spherical
arm and three DOF spherical wrist have been done to solve the kinematics and inverse kinematics.
Kinematics provides the rational explication of a robotic manipulator. Denavit-Hartenberg criterion has
been employed to solve the kinematics equations. MATLAB, Firefly Algorithm (FA), Artificial bee
colony (ABC) algorithm and Roboanalyzer have been implemented to find the inverse kinematics
solution, distance, absolute error and home position for six-DOF manipulator. Error can be optimized
to the desired level with the firefly algorithm.
| Item Type: | Book Section |
|---|---|
| Subjects: | Research Scholar Guardian > Engineering |
| Depositing User: | Unnamed user with email support@scholarguardian.com |
| Date Deposited: | 07 Nov 2023 04:20 |
| Last Modified: | 07 Nov 2023 04:20 |
| URI: | http://science.sdpublishers.org/id/eprint/2020 |
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