Resumo

VACA GONZALEZ, Juan Jairo; PENA CARO, Cristhian Andrés  e  VACCA GONZALEZ, Harold. Inverse kinematics of a serial robot using SDKM- based genetic algorithm. Tecnura [online]. 2015, vol.19, n.44, pp.33-45. ISSN 0123-921X.  https://doi.org/10.14483/udistrital.jour.tecnura.2015.2.a02.

Serial robotic manipulators are efficient tools to carry out repetitive and precision tasks in industry, as long as there is understanding of the involved kinematics in the positioning and orientation of the final effector. This article presents a methodology to the solution of an inverse kinematic serial robot (Melfa RV-2A) problem through genetic algorithm (GA) implementation using the Screws direct kinematic model (SDKM). In order to do this, the Screws parameters that model the main four robot joints are obtained, the related workspace is calculated and the GA is designed considering a multi objective function of position and orientation located in the final effector, with respect to a coordinate and orientation of an established target point. The GA validation is carried out according to aptitude, convergence time and number of generations used in order to reach the main objective. Therefore, the implementation of a SDKM-based AG is a tool that could be used to calculate the inverse kinematic of serial robots. This implementation allows to establishing for the first time the matrix exhibition of a direct kinematic system to obtain the inverse kinematic solution of a serial robot. In consequence, it is demonstrated that this methodology is feasible and efficient to solve the inverse kinematic of any manipulator robot.

Palavras-chave : direct kinematic; genetic algorithm; inverse kinematic; screws; serial robot; workspace.

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