Visual Servoing of a 3R Robot by Metaheuristic Algorithms

In planar robot control, the singularity problem is frequently encountered when determining geometric or kinematic model. To overcome this problem, a new method presented in paper. Indeed, used to compute joint positions of 3R robots with high accuracy. The main idea proposed use metaheuristic algorithm for retrieving coordinates four reference points object image that captured by hand-eye camera robot. Then, are estimated using algorithm. resulting then controlling moving desired position. simulation experiments conducted several algorithms same population size (N = 400). obtained results show accuracy terms exact joints, which leads finding optimal trajectory.