Inverse Kinematic Solver Based on Bat Algorithm for Robotic Arm Path Planning

The bat algorithm (BA) is a nature inspired algorithm which is mimicking the bio-sensing characteristics of bats, known as echolocation. This paper suggests a Bat-based meta-heuristic for the inverse kinematics problem of a robotic arm. An intrinsically modified BA is proposed to find an inverse kin...

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Bibliographic Details
Published in:Robotics (Basel) 2023-04, Vol.12 (2), p.38
Main Authors: Slim, Mohamed, Rokbani, Nizar, Neji, Bilel, Terres, Mohamed Ali, Beyrouthy, Taha
Format: Article
Language:English
Subjects:
Accuracy
Algorithms
bat algorithm
Control systems
Elongation
Genetic algorithms
Heuristic methods
Industrial applications
Inverse kinematics
Kinematics
meta-heuristic
Neural networks
Numerical analysis
Optimization
Path planning
Robot arms
robotic arm
Robotics
Robots
Solvers
Wrist
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Summary:The bat algorithm (BA) is a nature inspired algorithm which is mimicking the bio-sensing characteristics of bats, known as echolocation. This paper suggests a Bat-based meta-heuristic for the inverse kinematics problem of a robotic arm. An intrinsically modified BA is proposed to find an inverse kinematics (IK) solution, respecting a minimum variation of the joints’ elongation from the initial configuration of the robot manipulator to the proposed new pause position. The proposed method is called IK-BA, it stands for a specific bat algorithm dedicated to robotic-arms’ inverse geometric solution, and where the elongation control mechanism is embedded in bat agents update equations. Performances analysis and comparatives to related state of art meta-heuristics solvers showed the effectiveness of the proposed IK bat solver for single point IK planning as well as for geometric path planning, which may have several industrial applications. IK-BA was also applied to a real robotic arm with a spherical wrist as a proof of concept and pertinence of the proposed approach.
ISSN:2218-6581
2218-6581
DOI:10.3390/robotics12020038