Inverse Kinematics of Robot Manipulator Based on BODE-CS Algorithm

Differential evolution is a popular algorithm for solving global optimization problems. When tested, it has reportedly outperformed both robotic problems and benchmarks. However, may have issues with local optima or premature convergence. In this paper, we present novel BODE-CS (Bidirectional Opposite Evolution–Cuckoo Search) to solve the inverse kinematics problem of six-DOF EOD (Explosive Ordnance Disposal) robot manipulator. The hybrid was based on differential Cuckoo Search algorithm. To avoid any optimum accelerate convergence swarm, various strategies were introduced. Firstly, forward-kinematics model established, objective function formulated according structural characteristics Secondly, Halton sequence an opposite search strategy used initialize individuals in swarm. Thirdly, algorithms applied swarm dynamically allocated Evolution Fourthly, composite algorithm, which consisted strategy, bidirectional two other typically introduced maintain diversity Finally, adaptive parameters optimize amplification factor F cross-over probability Cr. verify performance different tasks tested. experimental results simulation showed that had high accuracy fast rate, met requirements solution