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

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Abstract

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.

Original languageEnglish
Pages (from-to)946-954
Number of pages9
JournalWorld Applied Sciences Journal
Volume20
Issue number7
DOIs
Publication statusPublished - 2012

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Electromagnetism
Inverse kinematics
Genetic algorithms
Robots
Manipulators
Simulators

All Science Journal Classification (ASJC) codes

  • General

Cite this

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abstract = "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.",
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AU - Koh, Johnny Siaw Paw

AU - Mohamed Sahari, Khairul Salleh

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AU - Yap, David F.W.

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