Abstract:It is necessary to control the movement of a complex multi-joint structure such as a robotic arm in order to reach a target position accurately in various applications. In this paper, a hybrid optimal Genetic–Swarm solution for the Inverse Kinematic (IK) solution of a robotic arm is presented. Each joint is controlled by Proportional–Integral–Derivative (PID) controller optimized with the Genetic Algorithm (GA) and Particle Swarm Optimization (PSO), called Genetic–Swarm Optimization (GSO). GSO solves the IK of… Show more
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