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Inverse Kinematics of SCARA Manipulator based on SFLA

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2021
Duc Hoang Nguyen

Duc Hoang Nguyen. Inverse Kinematics of SCARA Manipulator based on SFLA. International Journal of Computer Applications 183(38):20-25, November 2021. BibTeX

	author = {Duc Hoang Nguyen},
	title = {Inverse Kinematics of SCARA Manipulator based on SFLA},
	journal = {International Journal of Computer Applications},
	issue_date = {November 2021},
	volume = {183},
	number = {38},
	month = {Nov},
	year = {2021},
	issn = {0975-8887},
	pages = {20-25},
	numpages = {6},
	url = {},
	doi = {10.5120/ijca2021921780},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


In this paper, SCARA manipulator was designed forthe cutting operation. Due to cutting path is nearly closed, normal SCARA manipulators cannot trackthis path without colliding with the cutting tool. In this study, the author suggested placing SCARA manipulatoron a moving axis. This leads to finding inverse kinematics of moving SCARA manipulator is verycomplicated.So, the author used Shuffled Frog Leaping Algorithm (SFLA) to obtain the solutions of the inverse kinematics equation.The SFLA is a bio-inspired optimization method that consists of a frog leaping rule for local search and a memetic shuffling rule for global information exchange.The simulation results showed that the SFLA could beeffectively used for obtaining the inverse kinematics solutions of the manipulator.


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Optimization, SFLA, Inverse kinematics, SCARA manipulator