University of Technology-IraqEngineering and Technology Journal1681-6900377A20190725Enhanced Solution of Inverse Kinematics for Redundant Robot Manipulator Using PSO24124716903010.30684/etj.37.7A.4ENHind Z.KhaleelControl and Systems Engineering Department, University of Technology - IraqJournal Article20190301Kinematics of the robot is divided into two parts: the forward<br />kinematics, which evaluates the end-effectorâ€™s position from joint angles, and the<br />inverse kinematics, which demonstrates the joint angles from the end-effector's<br />position. The solution of the inverse kinematics problem is too difficult and<br />complicated for the redundant robot arm manipulator. A Particle Swarm<br />Optimization (PSO) algorithm is an effective method to solve global optimization<br />problems. This paper presents the solution of inverse kinematics problem of a<br />three-link redundant manipulator robot arm using PSO without using the inverse<br />kinematics equations. The circle, square and triangle generated trajectories using<br />PSO are enhanced as compared with the trajectories of other works. The<br />enhanced PSO algorithm is successfully found the best generating three joint<br />angles and the best generating end-effector's position of a three-link robot arm.<br />Then according to these joints and positions the circle, square and triangle path<br />trajectories, results are smoother than the path trajectories of other work. This<br />enhanced solution of inverse kinematics using PSO algorithm is too fast due to<br />the short elapsed time in every iteration of trajectory. Besides that, these<br />velocities results have been given evaluated and give an indication that the threelink robot is moving fast during the PSO algorithm. The elapsed time of circle<br />trajectory equals to 20.903981 seconds, the elapsed time of square trajectory<br />equals to 11.747171 seconds and the elapsed time of triangle trajectory equals to<br />15.729663 seconds. MATLAB R2015b program is used in order to simulate all<br />results. The main benefit of this work is to solve two problems: 1) inverse<br />kinematics is too complex equations of the three-link robot. The solutions of best<br />joint angles using PSO are computed within joint limits without using inverse<br />kinematics equations. 2) Another problem, this work is enhanced three<br />trajectories with respect to the best joint angles and reaches 96% percent as<br />compared with another work. The error is too small according to the start and<br />goal PSO generated points for each trajectory.https://etj.uotechnology.edu.iq/article_169030_953621ef16b656f8e1b60c75ea0f567e.pdf