Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
JOINT ANGLES MINIMIZATION IN ROBOTIC ARM USING GENETIC ALGORITHMS
Submission Author:
Aline de Cássia Magalhães , Procurando endereço...
Co-Authors:
Aline de Cássia Magalhães, Rodrigo Maciel de Godoy, Josue Morais
Presenter: Aline de Cássia Magalhães
doi://10.26678/ABCM.COBEM2019.COB2019-2025
Abstract
The study of motion in robots is called kinematics, and it is divided into two types according to what is desired. Direct Kinematics finds position and orientation from the joint data, and Inverse Kinematics finds the joints positions from the position and orientation of the claw. In the present article, based on the Denavit-Hartenberg method of Direct Kinematics, a genetic algorithm has been implemented to optimize the motion angles between two points, having the limitations of the joints given by the user and the position where the joint wishes to arrive. The minimum value of joint displacement is 33% lower with Radcliffe's method, keeping position error less than 1.0 cm, which is better in terms of minimizing joint angles. The Wright's method has smaller end effector position errors, but the joint angles are larger to ensure errors up to 10^(-4) cm accuracy.
Keywords
Forward Kinematic, Genetic Algorithms, Optimization, Robotics
