Optimization of Inverse Kinematics of a 3R Robotic Manipulator using Genetic Algorithms
نویسندگان
چکیده
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. Keywords—Direct Kinematic, Genetic Algorithm, Inverse Kinematic, Optimization, Robot Manipulator
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