Artificial Bee Colony Algorithm for Optimization Energy in Inverse Kinematics of Robot Arms

Inverse kinematics of a robot arm has become very important research area in recent years. Artificial Bee Colony algorithm (ABC) is an efficient, faster optimization method in solving nonlinear problems. This paper solves an inverse kinematics robot arms based on ABC for six-joined robot arms. For this purpose wedefine a cost function based on the Manhattan (City block) distance from end-effectors position to the target point in Cartesian space. The results show better performance of proposed approach in terms of both position accuracy and time solution and less than energy consumption in inverse kinematic robot arms motion, theprevious studies than the previous studies employing the other heuristic methods like ABC with Euclidean Distance, Particle Swarm Optimization (PSO) and Harmony Search (HS).

کلیدواژه ها:

Inverse Kinematics ، Robotics ، Artificial Bee Colony ، Particle Swarm Optimization ، Harmony Search