Forward and Inverse Kinematics of 4-DoF SCARA: Using Optimization Algorithms

Subject Areas : Electrical Engineering

Mahdi Zavar ¹ (Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran)
Niki Manouchehri ² (Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran)
Alireza Safa ³ (Department of Electrical Engineering, Faculty of Engineering, Golestan University, Gorgan, Iran)

Received: 2023-08-03 Accepted : 2024-01-20 Published : 2023-12-01

Keywords: Optimization Algorithms, Inverse Kinematics, SCARA, Forward kinematics, Robot arms,

Abstract :

In this article, solving and optimizing the problem of forward and inverse kinematics of SCARA is studied. This robot belongs to series robots and it has four degrees of freedom. First, we specify the coordinate axes for each joint and use it to extract the Danavit-Hartenberg parameters. Next, we examineforward kinematics of the robot and obtain the rotation matrices and the homogeneous transformation matrix and calculate the forward kinematics of the robot. Next, the method of solving the inverse kinematics problem of the robot is studied using different algorithms, including Cultural Algorithm, Genetic-Hybrid Algorithm, Gray Wolf Optimization, Firefly Algorithm, Ant Colony Optimization and Particle Swarm Optimization.Them, we optimize the inverse kinematics of the robot using these algorithms in two ways: fixed point and circular path. In the end, the effectiveness of the proposed approaches for solving the inverse kinematics problem of the SCARA robot is evaluated with multiple simulations.

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