Path Outlining of a KUKA LBR Iiwa 14 R820 using Hybrid Optimization

Abstract

In this paper, the inverse kinematics of more advanced degree of freedom robot is computed with the support of MATLAB. This paper deals with the study of control modeling of the KUKA robot. The path planning of robot end effector has been a research area for years. In this paper the new hybrid optimization techniques are used to solve the forward and inverse kinematics solution of KUKA LBR iiwa 14 R820. For Forward Kinematics SHO (selfish herd optimization), KHO (krill herd optimization)hybrid optimization technique is used and for Inverse Kinematics, hybrid ALO (ant lion optimization), ACO (ant colony optimization) technique is used. This proposed work also incorporates the itinerary of the robot in a workspace area with multiple obstacles by using a Hybrid GWO (Grey wolf optimization), GOA (grasshopper optimization). The optimized route discovered by applying the hybrid optimizer is energy efficient. Graphic User Interface is used to strut the optimized path into 3-Dimensional form. Forged consequences are administered to exemplify the effeteness and virtue of the propounding method. While using the different optimizing techniques the optimized path is found, with obstacle and without obstacle with less execution time and in less number of iterations. The Graphic user Interface is used to represent the different paths. In this work, the multi-objective functions such as collision free motion, jerk, travelling time and acceleration are considered for the planning of trajectory of the robot manipulator. The fitness function is reducing the multi-objective function.