Comparing the Results of Applying DE, PSO and Proposed Pro DE, Pro PSO Algorithms for Inverse Kinematics Problem of a 5-DOF Scara Robot

Abstract

In this research, the Differential Evolution (DE) and Particle Swarm optimization (PSO) algorithms as well as the Proposed DE and PSO (Pro DE and Pro PSO) Algorithms with searching space improvements were applied to solve the Inverse Kinematic (IK) problem of 5 Degree of Freedoms (DOF) Scara Robot These algorithms were tested with two different scenarios for the motion of the manipulator's end-effector. The 1st scenario uses one hundred randomly selected in the workspace of the robot, while the 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> scenario also use 100 points belong to a spline trajectory in working space. These algorithms were compared by the execution time, the end-effector position error, the required number of generations and joints variable values. The results showed that the DE and Pro DE could be effectively used for the IK solution of the manipulator.