Meta-Heuristics Based Inverse Kinematics of Robot Manipulator’s Path Tracking Capability Under Joint Limits

In robot-assisted manufacturing or assembly, following a predefined path became critical aspect. general, inverse kinematics offers the solution to control movement of manipulator while trajectory. The main problem with approach is that are computationally complex. For redundant manipulator, this complexity further increased. Instead employing kinematics, can be reduced by using heuristic algorithm. Therefore, heuristic-based used solve robot end effector, guaranteeing desired paths accurately followed. This paper compares performance four such approaches solving problem. They Bat Algorithm (BAT), Gravitational Search (GSA), Particle Swarm Optimization (PSO), and Whale (WOA). these algorithms evaluated based on their ability follow Extensive simulations show BAT GSA outperform PSO WOA in all aspects considered work related kinematic problems.