A Metaheuristic Optimization Approach to Solve Inverse Kinematics of Mobile Dual-Arm Robots

This work presents an approach to solving the inverse kinematics of mobile dual-arm robots based on metaheuristic optimization algorithms. First, a kinematic analysis robot is presented. Second, objective function formulated forward equations. The does not require using any Jacobian matrix nor its estimation; for this reason, proposed suffer from singularities, which common problem with conventional Moreover, method solves cooperative manipulation tasks, especially in case coordinated manipulation. Simulation and real-world experiments were performed verify proposal’s effectiveness under trajectory tracking tasks. experimental setup considered system KUKA® Youbot® robot. solution showed precise accurate results. Although focuses manipulation, it can be implemented solve non-coordinated