A neuro-genetic-simulated annealing approach to the inverse kinematics solution of robots: a simulation based study


Köker R., Çakar T.

Engineering with Computers, vol.32, no.4, pp.553-565, 2016 (SCI-Expanded) identifier

  • Publication Type: Article / Article
  • Volume: 32 Issue: 4
  • Publication Date: 2016
  • Doi Number: 10.1007/s00366-015-0432-z
  • Journal Name: Engineering with Computers
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Page Numbers: pp.553-565
  • Keywords: Genetic algorithms, Hybrid intelligent system, Inverse kinematics solution, Robotics, Simulated annealing
  • Istanbul Gelisim University Affiliated: No

Abstract

In this study, a hybrid intelligent solution system including neural networks, genetic algorithms and simulated annealing has been proposed for the inverse kinematics solution of robotic manipulators. The main purpose of the proposed system is to decrease the end effector error of a neural network based inverse kinematics solution. In the designed hybrid intelligent system, simulated annealing algorithm has been used as a genetic operator to decrease the process time of the genetic algorithm to find the optimum solution. Obtained best solution from the neural network has been included in the initial solution of genetic algorithm with randomly produced solutions. The end effector error has been reduced micrometer levels after the implementation of the hybrid intelligent solution system.