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Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach

Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach

Kesaba P., Bibhuti Bhusan Choudhury
Copyright: © 2022 |Volume: 12 |Issue: 1 |Pages: 13
ISSN: 2156-1680|EISSN: 2156-1672|EISBN13: 9781683182283|DOI: 10.4018/IJMMME.293224
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MLA

Kesaba P., and Bibhuti Bhusan Choudhury. "Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach." IJMMME vol.12, no.1 2022: pp.1-13. http://doi.org/10.4018/IJMMME.293224

APA

Kesaba P. & Choudhury, B. B. (2022). Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach. International Journal of Manufacturing, Materials, and Mechanical Engineering (IJMMME), 12(1), 1-13. http://doi.org/10.4018/IJMMME.293224

Chicago

Kesaba P., and Bibhuti Bhusan Choudhury. "Optimization of DH Parameters of 6R Robotic Manipulator Using JAYA Approach," International Journal of Manufacturing, Materials, and Mechanical Engineering (IJMMME) 12, no.1: 1-13. http://doi.org/10.4018/IJMMME.293224

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Abstract

Manipulation of robots is carried out by the operators through a sequence of commands. However, the accuracy of the manipulation is still hindered due to parameter uncertainty. This results in less accurate robotic operations and hence affects the job performance. Due to measurement errors and sensor faults, the operation of robots malfunctions. Generally, errors are reduced with the use of high precision sensors and correcting hardware faults. However, corrections can also be made on a software platform to handle the correction process. Presently, the Denavit–Hartenberg (DH) parameters of a robotic manipulator are optimized for forward kinematics problems. The optimization is carried out using the JAYA approach. The 6R MTAB Aristo XT robot is selected as a case study for the experimental validation of the proposed approach. Experimental results reveal that the optimization of DH parameters improves accuracy for forward kinematic estimation problems. The proposed JAYA approach can further be extended to other robotic manipulators for parameter optimization problems.