Solve the Inverse Kinematics of Robot Arms using Sand Cat Swarm Optimization (SCSO) Algorithm

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dc.authoridSeyyedabbasi, Amir/0000-0001-5186-4499
dc.authorwosidSeyyedabbasi, Amir/HJH-7387-2023
dc.contributor.authorSeyyedabbasi, Amir
dc.date.accessioned2024-05-19T14:42:52Z
dc.date.available2024-05-19T14:42:52Z
dc.date.issued2022
dc.departmentİstinye Üniversitesien_US
dc.description5th International Conference on Theoretical and Applied Computer Science and Engineering (ICTASCE) -- SEP 29-OCT 01, 2022 -- Istanbul, TURKEYen_US
dc.description.abstractInverse kinematics of robot arms is one of the optimization problems. The six joints of the Six degrees of freedom PUMA 560 robot arm are considered as an inverse kinematics system in this study. There are many possibilities for joint angles in this problem, making the analysis difficult to determine using deterministic rules. Several metaheuristic algorithms are presented in this paper for solving the inverse kinematics problem of robot arms, including the sand cat swarm optimization algorithm (SCSO). Additionally, we compare the particle swarm optimization (PSO), grey wolf optimization (GWO), and whale optimization algorithm (WOA) optimization algorithms to see which is most efficient. In this study, meta-heuristic algorithms are used to determine the inverse kinematics of the robotic arm, which are essential to tracking a rectangular trajectory in three dimensions. A cost function analysis was conducted in order to further analyze the results. In addition, the results of the comparison of the meta-heuristic algorithms to the inverse kinematics task showed that the SCSO algorithm performed better than the competitors.en_US
dc.description.sponsorshipIEEE,IEEE Algeria Sect,Istanbul Gedik Univ,AJRESD Journal,Lab Dev Durable Informatiqueen_US
dc.identifier.doi10.1109/ICTACSE50438.2022.10009772
dc.identifier.endpage131en_US
dc.identifier.isbn979-8-3503-3162-2
dc.identifier.scopus2-s2.0-85147089154en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage127en_US
dc.identifier.urihttps://doi.org10.1109/ICTACSE50438.2022.10009772
dc.identifier.urihttps://hdl.handle.net/20.500.12713/5295
dc.identifier.wosWOS:000932842500022en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2022 International Conference on Theoretical and Applied Computer Science and Engineering (Ictasce)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.snmz20240519_kaen_US
dc.subjectInverse Kinematicsen_US
dc.subjectMetaheuristic Algorithmsen_US
dc.subjectSand Cat Swarm Optmization;Optimization Problemsen_US
dc.subjectRoboticsen_US
dc.titleSolve the Inverse Kinematics of Robot Arms using Sand Cat Swarm Optimization (SCSO) Algorithmen_US
dc.typeConference Objecten_US

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