CFP last date
20 January 2025
Call for Paper
February Edition
IJCA solicits high quality original research papers for the upcoming February edition of the journal. The last date of research paper submission is 20 January 2025

Submit your paper
Know more
The week's pick
Responsive image
SFLA-Based Line Balancing and Task Optimization in Master-Slave Controlled Hanger Transportation Systems for Garment Production

Duc Hoang Nguyen
Random Articles
Reseach Article

Inverse Kinematics of SCARA Manipulator based on SFLA

by Duc Hoang Nguyen
journal cover thumbnail

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Volume 183 - Number 38
Year of Publication: 2021
Authors: Duc Hoang Nguyen
10.5120/ijca2021921780

Duc Hoang Nguyen . Inverse Kinematics of SCARA Manipulator based on SFLA. International Journal of Computer Applications. 183, 38 ( Nov 2021), 20-25. DOI=10.5120/ijca2021921780

@article{ 10.5120/ijca2021921780,
author = { Duc Hoang Nguyen },
title = { Inverse Kinematics of SCARA Manipulator based on SFLA },
journal = { International Journal of Computer Applications },
issue_date = { Nov 2021 },
volume = { 183 },
number = { 38 },
month = { Nov },
year = { 2021 },
issn = { 0975-8887 },
pages = { 20-25 },
numpages = {9},
url = { https://ijcaonline.org/archives/volume183/number38/32179-2021921780/ },
doi = { 10.5120/ijca2021921780 },
publisher = {Foundation of Computer Science (FCS), NY, USA},
address = {New York, USA}
}
%0 Journal Article
%1 2024-02-07T01:19:00.794683+05:30
%A Duc Hoang Nguyen
%T Inverse Kinematics of SCARA Manipulator based on SFLA
%J International Journal of Computer Applications
%@ 0975-8887
%V 183
%N 38
%P 20-25
%D 2021
%I Foundation of Computer Science (FCS), NY, USA
Abstract

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.

References
  1. Ahmed El-Sherbiny, Mostafa A. Elhosseini, Amira Y. Haikal. (2017).A comparative study of soft computing methods to solve inversekinematics problem.Ain Shams Engineering Journal.
  2. Saleh Tabandeh, Christopher Clark, and William Melek. (2006). A Genetic Algorithm Approach to solve for Multiple Solutions of Inverse Kinematics using Adaptive Niching and Clustering. IEEE Congress on Evolutionary Computation.
  3. Hsu-Chih Huang; Chien-Po Chen; Pei-Ru Wang. (2012). Particle swarm optimization for solving the inverse kinematics of 7-DOF robotic manipulators.IEEE International Conference on Systems, Man, and Cybernetics (SMC).
  4. Carlos López-Franco, et al. (2017). Inverse kinematics of mobile manipulators based on differential evolution.International Journal of Advanced Robotic Systems.
  5. Muzaffar Eusuff, Kevin Lansey and Fayzul Pasha. (2006). Shuffled frog-leaping algorithm: a memetic meta-heuristic for discrete optimization. Engineering Optimization Vol. 38, No. 2, 129–154.
  6. A. Darvishi, A. Alimardani, B. Vahidi , S.H. Hosseinian. (2014). Shuffled Frog-Leaping Algorithm for Control of Selective and Total Harmonic Distortion. Journal of Applied Research and Technology, Volume 12, Issue 1, 111–121.
  7. Kaushik Kumar Bhattacharjee, S.P. Sarmah. (2014). Shuffled frog leaping algorithm and its application to 0/1 knapsack problem. Applied Soft Computing, Volume 19, 252–263.
  8. Yi Han, et al. (2013). Shuffled Frog Leaping Algorithm for Preemptive Project Scheduling Problems with Resource Vacations Based on Patterson Set. Journal of Applied Mathematics.
  9. Daniel Mora-Melia, Pedro L. Iglesias-Rey, F. Javier Martínez-Solano and Pedro Muñoz-Velasco. (2016). The Efficiency of Setting Parameters in a Modified Shuffled Frog Leaping Algorithm Applied to Optimizing Water Distribution Networks. Water 2016, 8, 182, MDPI.
  10. Dina M. Said, Nabil M. Hamed, Almoataz Y. Abdelaziz. (2016). Shuffled Frog Leaping Algorithm for Economic Dispatch with Valve Loading Effect. International Electrical Engineering Journal, Vol 7 No 3
Index Terms

Computer Science
Information Sciences

Keywords

Optimization SFLA Inverse kinematics SCARA manipulator

Powered by PhDFocusTM