Özet:

The solution of inverse kinematics problems is one of the main problems for serial robot manipulators. In this study, a chaotic-based algorithm has been developed to minimize the complexity of solving the inverse kinematics problem of a series manipulator with 7 degrees of freedom. It is aimed to increase the efficiency of the global and local search features of the original algorithm using the flower pollination algorithm modified with the Henon chaotic map. For the simulation studies, to verify performance of modified algorithms, three different desired position vectors are selected as P1 [−25 100 50], P2 [24 50 100] and P3 [-30 30 80] in meter. In addition, these algorithms were compared according to the end-effector position error and the solution time. The simulation results showed that the chaotic-based algorithms can be effectively used for the inverse kinematic solutions of the serial robot manipulator.