TY - GEN
T1 - Nth degree polynomials joint angle path by approximation of inverse kinematics data using genetic algorithm
AU - Machmudah, Affiani
AU - Parman, Setyamartana
AU - Zainuddin, Azman
PY - 2010
Y1 - 2010
N2 - This paper proposes an idea to approximate few robot manipulator inverse kinematics data by nth degree polynomials function using a Genetic Algorithm (GA). This paper will find a joint angle path from inverse kinematics data in the form of nth degree polynomials parametric function. The GA is used as an approximation method. It will find proper coefficients of a polynomial function such that a polynomial curve is close to sample nodes. A fitness function is the minimum error between data and a function value. Third, fifth, seventh, and tenth polynomials degree approximation will be carried out. The results show that the GA can be used as the approximation methods with various errors for each degree and there is always the appropriate degree which gives the best result.
AB - This paper proposes an idea to approximate few robot manipulator inverse kinematics data by nth degree polynomials function using a Genetic Algorithm (GA). This paper will find a joint angle path from inverse kinematics data in the form of nth degree polynomials parametric function. The GA is used as an approximation method. It will find proper coefficients of a polynomial function such that a polynomial curve is close to sample nodes. A fitness function is the minimum error between data and a function value. Third, fifth, seventh, and tenth polynomials degree approximation will be carried out. The results show that the GA can be used as the approximation methods with various errors for each degree and there is always the appropriate degree which gives the best result.
UR - http://www.scopus.com/inward/record.url?scp=79952759961&partnerID=8YFLogxK
U2 - 10.1109/ICIAS.2010.5716213
DO - 10.1109/ICIAS.2010.5716213
M3 - Conference contribution
AN - SCOPUS:79952759961
SN - 9781424466238
T3 - 2010 International Conference on Intelligent and Advanced Systems, ICIAS 2010
BT - 2010 International Conference on Intelligent and Advanced Systems, ICIAS 2010
T2 - 2010 International Conference on Intelligent and Advanced Systems, ICIAS 2010
Y2 - 15 June 2010 through 17 June 2010
ER -