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Inverse Acceleration Solution for Robot Manipulators using Harmony Search Algorithm

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International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Authors:
Hazim Nasir Ghafil
10.5120/ijca2016910297

Hazim Nasir Ghafil. Inverse Acceleration Solution for Robot Manipulators using Harmony Search Algorithm. International Journal of Computer Applications 144(6):1-7, June 2016. BibTeX

@article{10.5120/ijca2016910297,
	author = {Hazim Nasir Ghafil},
	title = {Inverse Acceleration Solution for Robot Manipulators using Harmony Search Algorithm},
	journal = {International Journal of Computer Applications},
	issue_date = {June 2016},
	volume = {144},
	number = {6},
	month = {Jun},
	year = {2016},
	issn = {0975-8887},
	pages = {1-7},
	numpages = {7},
	url = {http://www.ijcaonline.org/archives/volume144/number6/25180-2016910297},
	doi = {10.5120/ijca2016910297},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}
}

Abstract

Inverse acceleration problem is very difficult for a serial robot having less than 6 degree of freedom (DOFs), this difficulty is due to the complexity of the inverse Jacobian matrix. For the sake of this problem an approach to solve inverse acceleration of a robot was introduced in this paper, in which harmony search algorithm (HSA) was used to calculate the inverse problem without calculating inverse Jacobian matrix. It is proved that it is applicable by simulation inverse acceleration for a 3-DOF robot. ANSYS 15.0 was used as a simulation software package.

References

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Keywords

Robot; Inverse acceleration solution; Harmony search algorithm