Inverse Kinematics Solution of Articulated Robots Using a Heuristic Approach for Optimizing Joint Displacement

In this work, a new constrained numerical optimization approach is proposed for solving offline the Inverse Kinematics Problem (IKP) of articulated robots, which consists on optimizing joint displacement while end effector positioned and oriented in desired pose. The novelty formulation problem, where objective function calculates minimum displacement, with position orientation errors handled as equality constraints. This may avoid configurations containing singularities. IKP solved defined trajectory dexterous workspace robot by using two versions Differential Evolution algorithm considering stages. First, DE/rand/1/bin used positioning orienting at first point regardless its initial position. second stage applies DE/best/1/bin order to emphasize exploitation process minimize computational time obtain inverse kinematics due closeness that exists between consecutive points make up trajectory. combination DE another contribution speeds considerably search prioritizing exploration then exploitation, sequential application can be solution diverse problems. Finally, IRB-1600 was case study trajectories workspace, circular Lissajous. results generated were simulated RoboDK® industrial simulator.