The power of metaheuristic algorithms for robotics: singularity & trajectory
When calculating the kinematic model of any kind of robot, parallel or planar, the singularity problem frequently crops up. We propose the application of metaheuristic algorithms to identify the needed target to solve this issue and minimize calculus. Simulation results using several metaheuristic algorithms (MA) on the same population have been obtained with reduced computing time (0.50 s). The efficacy of the suggested technique for maximizing the position and trajectory of the joints in a 3-DOF or 3-RRR (with three rotational degrees of freedom) planar parallel ma