Inverse Kinematics Analysis Of a Five-Degree Of Freedom Educated Type Of Alpha Robot Using Genetic Algorithm

Abstract

Inverse Kinematic is considered as one of the complicated issues in robots domain according to the nonlinearity , multiple solutions , the need for complete knowledge about robotic environment besides to other factors. Whereas a great development has appeared in using the artificial intelligence methods to replace the classical analyzing methods. In this paper , an approach for using the Genetic Algorithm is suggested to deal with the Inverse Kinematics problem of a five degree of freedom robot. Firstly the forward and inverse kinematics of the robot is introduced , then the inverse kinematic equations are solved by the Genetic Algorithm with the aid of MATLAB programming , the results were compared using three ways , firstly by the classic analytical equations , secondly by the robot simulation program ROBCIM , and lastly by the MATLAB Genetic Algorithm Toolbox . Genetic Algorithm had accomplished good results , and got rid of many limitations which may face other analytical methods.