Özet:

In this article the end effector displacement control for a manipulator robot with 6 rotational joints on a predetermined 3-dimensional trajectory is investigated. Since for any end effector position there are more than a single set of answers, regarding to robot parts orientation, finding a method which gives the designer all existing states will lead to more freedom of action. Hence two different methods were applied to solve robot inverse kinematic issue. In the first method ADAMS software was considered, which is a well-known software in the field of solving inverse kinematic problems, and after that BA algorithm is used as an intelligent method. This method is one of the fastest and most efficient methods among all existing ones for solving non-linear problems. Hence problem of inverse kinematic solution is transformed into an affair of optimization. Comparison of results obtained by both models indicates the reasonable performance of BA because of its capability in providing the answers from all existing states along with the privilege of no need to 3D modeling.

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