New Optimization Techniques used in Robotics

Abstract: It’s very difficult to find the solution of Inverse Kinematics (IK) by using the conventional method. The main problem in solving the inverse kinematics by using older method is that it gives multiple solution. Many problems are continuous in the real world and finding the global solutions is difficult. Optimization is one of that solution. In this paper the different optimization techniques are discussed for trajectory planning and the obstacle avoidance for different DOF robot. With the help of different optimization techniques, the artificial robots are made. The capabilities of artificial intelligence techniques are explored in order to find the optimal solution without using much complex mathematics while using this technique. Here forward and inverse kinematics problems, position and joint displacement errors, velocity, acceleration and time are the main variables to be considered for optimization.

Keywords: kinematics, Robotics arm, robotics manipulator, optimization