Citation

Nyong-Bassey, Bassey Etim and Marttyns Epemu, Ayebatonye (2022) Inverse Kinematics Analysis of Novel 6-Dof Robotic Arm Manipulator for Oil and Gas Welding Using Grey Wolf Algorithm. International Journal on Robotics, Automation and Sciences, 4. pp. 13-22. ISSN 2682-860X

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Abstract

This research presents a comparison of the grey-wolf, improved grey-wolf, particle swarm, jellyfish and whale optimisation algorithms regarding the inverse kinematics solution of a newly designed 6-degrees of freedom robotic arm for oil and gas pipeline welding which has not been used in literature. Consequently, due to the robot’s multiple joints with compounding combinatory possibilities of joint angles, the analysis of the inverse kinematics is relatively complex. In this research, the meta-heuristic algorithms, have been used to determine the robotic arm's inverse kinematics, essential for tracking a rectangular trajectory with six sets of waypoints in the 3D [X, Y, Z] space. The results were further analysed in terms of the accuracy of the position of the end effector from the accurate position of the rectangular target trajectory via a mean squared error cost function. Furthermore, the results of comparison between the meta-heuristic algorithms to position error from the inverse kinematics task demonstrated the superior performance of the grey-wolf algorithm over the particle swarm, improved grey-wolf, jellyfish, and whale optimisation algorithms.

Item Type:	Article
Uncontrolled Keywords:	Grey wolf, Robotic arm, 6 DoF, Inverse Kinematics, Meta-heuristic optimization
Subjects:	T Technology > TJ Mechanical Engineering and Machinery > TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General)
Depositing User:	Ms Nurul Iqtiani Ahmad
Date Deposited:	22 Jul 2022 01:05
Last Modified:	22 Jul 2022 01:05
URII:	http://shdl.mmu.edu.my/id/eprint/10167

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