Optimization of Energy and Errors for Different DOf Manipulators using Hybrid Algortihm

Abstract

A hybrid technique using two metaheuristic algorithms, Firefly and BAT algorithm has been proposed. It has been used to obtain the direct and inverse kinematics (IK) solution of different degrees of freedom (DOF) manipulators. The energy consumption and errors present in the kinematics solution has been optimized. The errors present are position error and absolute error. During the optimization an algorithm can give good results for one or more variables, but cannot provide best results for all the variables in the kinematics solution. Hybrid algorithm has been proposed to optimize the desired results.