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Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics

A comparison study between Electromagnetism-Like Algorithm (EM) and Genetic Algorithm (GA) has been presented in this work to solve the Inverse Kinematics (IK) of a four-link planar robot manipulator. The comparison is focused on some points for both algorithms like the accuracy of the results and t...

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Main Authors: Abed, I.A., Koh, S.P., Mohamed Sahari, K.S., Tiong, S.K., Yap, D.F.W.
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Published: 2018
Online Access:http://dspace.uniten.edu.my/jspui/handle/123456789/6994
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spelling my.uniten.dspace-69942018-01-11T08:27:48Z Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics Abed, I.A. Koh, S.P. Mohamed Sahari, K.S. Tiong, S.K. Yap, D.F.W. A comparison study between Electromagnetism-Like Algorithm (EM) and Genetic Algorithm (GA) has been presented in this work to solve the Inverse Kinematics (IK) of a four-link planar robot manipulator. The comparison is focused on some points for both algorithms like the accuracy of the results and the speed of convergence. Different target points have been taken to check the performance of each algorithm to solve the IK problem. The results showed that EM algorithm needs less population size and number of generations to get the true solution. There are multiple robot configurations at the goal points and both algorithms are able to find these solutions at each point. Self developed software simulator is used to display some of these solutions at each goal position. © IDOSI Publications, 2012. 2018-01-11T08:27:48Z 2018-01-11T08:27:48Z 2012 http://dspace.uniten.edu.my/jspui/handle/123456789/6994
institution Universiti Tenaga Nasional
building UNITEN Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Tenaga Nasional
content_source UNITEN Institutional Repository
url_provider http://dspace.uniten.edu.my/
description A comparison study between Electromagnetism-Like Algorithm (EM) and Genetic Algorithm (GA) has been presented in this work to solve the Inverse Kinematics (IK) of a four-link planar robot manipulator. The comparison is focused on some points for both algorithms like the accuracy of the results and the speed of convergence. Different target points have been taken to check the performance of each algorithm to solve the IK problem. The results showed that EM algorithm needs less population size and number of generations to get the true solution. There are multiple robot configurations at the goal points and both algorithms are able to find these solutions at each point. Self developed software simulator is used to display some of these solutions at each goal position. © IDOSI Publications, 2012.
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author Abed, I.A.
Koh, S.P.
Mohamed Sahari, K.S.
Tiong, S.K.
Yap, D.F.W.
spellingShingle Abed, I.A.
Koh, S.P.
Mohamed Sahari, K.S.
Tiong, S.K.
Yap, D.F.W.
Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
author_facet Abed, I.A.
Koh, S.P.
Mohamed Sahari, K.S.
Tiong, S.K.
Yap, D.F.W.
author_sort Abed, I.A.
title Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
title_short Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
title_full Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
title_fullStr Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
title_full_unstemmed Comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
title_sort comparison between genetic algorithm and electromagnetism-like algorithm for solving inverse kinematics
publishDate 2018
url http://dspace.uniten.edu.my/jspui/handle/123456789/6994
_version_ 1644494077018767360
score 13.15806

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