Akademik Veri Yönetim Sistemi
2023 Innovations in Intelligent Systems and Applications Conference (ASYU), Sivas, Türkiye, 11 - 13 Ekim 2023, ss.1-6
Inverse kinematics is a fundamental problem in robotics: a range of joint angles must be calculated before the robot arm can be manipulated into the desired end effector position and direction. In robots with high degrees of freedom (DOF), geometric solutions are not sufficient in inverse kinematics calculation and a new solution is required for this process. In this study, 7 DOF robotic arm inverse kinematic analysis is performed with cuckoo and whale algorithms. The steps performed in the study are as follows: First of all, the DH parameters of the robot manipulator are created, and the transformation matrices are revealed. Then, position equations are obtained from these matrices. The position of the end effector of the robotic manipulator in the working area is estimated using the cuckoo algorithm and whale optimization algorithms. By comparing the simulation results, the optimal result was obtained for the inverse kinematic solution.