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

Köker R., Çakar T.

Engineering with Computers, cilt.32, sa.4, ss.553-565, 2016 (SCI-Expanded) identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 32 Sayı: 4
  • Basım Tarihi: 2016
  • Doi Numarası: 10.1007/s00366-015-0432-z
  • Dergi Adı: Engineering with Computers
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.553-565
  • Anahtar Kelimeler: Genetic algorithms, Hybrid intelligent system, Inverse kinematics solution, Robotics, Simulated annealing
  • İstanbul Gelişim Üniversitesi Adresli: Hayır

Özet

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.