Kinematics analysis of 5r axis using evolutionary algorithms

Abstract

In this paper, we have represented the kinematics solution of five degrees of freedom articulated arm with five revolute joints using Evolutionary algorithm. DH parameters are used to obtain the kinematics analysis of the manipulator. Simulations are performed on the MATLAB to show the workspace of the robotic manipulators. Firefly and artificial bee colony algorithms (ABC) have been used for the minimization of errors. The position error and absolute error have been minimized to the acceptable level.