Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms

In this paper the direct kinematic model of a multiple applications three degrees of freedom industrial manipulator, was developed using the homogeneous transformation matrices and the Denavit - Hartenberg parameters, likewise the inverse kinematic model was developed using the same method, verifying that in the workload border the inverse kinematic presents considerable errors, therefore a genetic algorithm was implemented to optimize the model improving greatly the efficiency of the model.

Authors:

• J. Ramírez A.
• A. Rubiano F.

Keywords:

• Direct Kinematic
• Genetic Algorithm
• InverseKinematic
• Optimization
• Robot Manipulator

References:

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