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

The bat algorithm (BA) is a nature inspired which mimicking the bio-sensing characteristics of bats, known as echolocation. This paper suggests Bat-based meta-heuristic for inverse kinematics problem robotic arm. An intrinsically modified BA proposed to find an (IK) solution, respecting minimum variation joints’ elongation from initial configuration robot manipulator new pause position. method called IK-BA, it stands specific dedicated robotic-arms’ geometric and where control mechanism embedded in agents update equations. Performances analysis comparatives related state art meta-heuristics solvers showed effectiveness IK solver single point planning well path planning, may have several industrial applications. IK-BA was also applied real arm with spherical wrist proof concept pertinence approach.