Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel
A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to gener...
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Maxwell Science Publications
2023
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| author | Abed I.A. Koh S.P. Sahari K.S.M. Tiong S.K. Tan N.M.L. |
| author2 | 55568292900 |
| author_facet | 55568292900 Abed I.A. Koh S.P. Sahari K.S.M. Tiong S.K. Tan N.M.L. |
| author_sort | Abed I.A. |
| building | UNITEN Library |
| collection | Institutional Repository |
| content_provider | Universiti Tenaga Nasional |
| content_source | UNITEN Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to generate multiple robot configurations for the IK test performed at different end effect or positions. In addition, the comparison between the proposed MEMR and Genetic Algorithm (GA) was carried out using two mathematical test functions; De Jong and Rastrigin. The tests results show that the proposed MEMR is comparable in performance to GA in terms of both convergence speed and error rate. © Maxwell Scientific Organization, 2014. |
| format | Article |
| id | my.uniten.dspace-22127 |
| institution | Universiti Tenaga Nasional |
| publishDate | 2023 |
| publisher | Maxwell Science Publications |
| record_format | dspace |
| spelling | my.uniten.dspace-221272023-05-16T10:47:38Z Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel Abed I.A. Koh S.P. Sahari K.S.M. Tiong S.K. Tan N.M.L. 55568292900 22951210700 57218170038 15128307800 24537965000 A new modification of Electromagnetism-like (EM) algorithm which incorporating the Record-to-Record Travel (RRT) local search algorithm; namely MEMR has been developed to solve the problem of Inverse Kinematics (IK) for a four Degree-of-Freedom (DOF) manipulator. The proposed method is able to generate multiple robot configurations for the IK test performed at different end effect or positions. In addition, the comparison between the proposed MEMR and Genetic Algorithm (GA) was carried out using two mathematical test functions; De Jong and Rastrigin. The tests results show that the proposed MEMR is comparable in performance to GA in terms of both convergence speed and error rate. © Maxwell Scientific Organization, 2014. Final 2023-05-16T02:47:38Z 2023-05-16T02:47:38Z 2014 Article 10.19026/rjaset.7.759 2-s2.0-84901981275 https://www.scopus.com/inward/record.uri?eid=2-s2.0-84901981275&doi=10.19026%2frjaset.7.759&partnerID=40&md5=36b0587159ceaed1898ccb4d683eb597 https://irepository.uniten.edu.my/handle/123456789/22127 7 19 3986 3994 All Open Access, Hybrid Gold, Green Maxwell Science Publications Scopus |
| spellingShingle | Abed I.A. Koh S.P. Sahari K.S.M. Tiong S.K. Tan N.M.L. Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title | Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title_full | Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title_fullStr | Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title_full_unstemmed | Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title_short | Solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| title_sort | solving the inverse kinematics for robot manipulators using modified electromagnetism-like algorithm with record to record travel |
| url_provider | http://dspace.uniten.edu.my/ |