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All Journal IAES International Journal of Robotics and Automation (IJRA) Indonesian Journal of Electrical Engineering and Computer Science
As’arry, Azizan
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Automotive Engineering Electrical & Electronics Engineering

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Inverse kinematics of six degrees of freedom robot manipulator based on improved dung beetle optimizer algorithm Haohao, Ma; As’arry, Azizan; Haoyang, Zhang; Ismail, Mohd Idris Shah; Rashidi Ramli, Hafiz; Zuhri, Mohd Yusoff Moh; Delgoshaei, Aidin
IAES International Journal of Robotics and Automation (IJRA) Vol 13, No 3: September 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v13i3.pp272-282

Abstract

Inverse kinematics is a basic problem in robotics, which aims to solve the robot’s joint angles according to the end effector’s position and orientation. This paper proposed an improved spiral search multi-strategy dung beetle optimizer (DBO) algorithm for solving the inverse kinematics problem. The improved DBO algorithm considers not only the error between the target value and the current value but also the previous position of the robot to ensure minimum displacement during the movement. To solve the end position error and orientation error of the robot end effector more accurately, the quaternion is introduced as a penalty factor in the optimization objective function, which is of great significance for reducing the orientation error. Through the improved DBO algorithm, the position error is still accurate, and the orientation error is reduced from 9.5901 to 1.8718. Experimental results show that the proposed algorithm outperforms other swarm-intelligent algorithms in terms of accuracy and convergence speed. Overall, the proposed spiral search multi-strategy DBO algorithm provides an effective and efficient solution to the inverse kinematics problem in robotics.
Improved dung beetle optimization algorithm and finite element analysis for spindle optimization Haohao, Ma; As’arry, Azizan; Xuping, Wu; Shah Ismail, Mohd Idris; Ramli, Hafiz Rashidi; Saad, Mohd Sazli; Delgoshaei, Aidin
Indonesian Journal of Electrical Engineering and Computer Science Vol 36, No 1: October 2024
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijeecs.v36.i1.pp559-569

Abstract

This research introduces an integrated optimization methodology for spindle design, combining the improved dung beetle optimization (IDBO) algorithm with finite element analysis (FEA). The IDBO algorithm, enhanced in population initialization and convergence factors, minimizes total deformation and mass, addressing a multi-objective optimization model. The obtained optimal parameters guide the construction of a finite element model, considering additional factors like stiffness and maximum stress. The ensuing FEA produces a foundation for constructing a response surface, further optimized to refine the initial design. Through the combination of the IDBO algorithm and FEA method, the mass of the spindle is reduced from 46.582 kg obtained by the IDBO algorithm solution to 28.479 kg, a total reduction of 38.86%, while meeting design requirements such as maximum total deformation. Modal analysis up to the sixth order validates the design correctness reveals dynamic spindle behavior and guarantees the design requirements. The study demonstrates the reliability and effectiveness of the proposed IDBO algorithm in conjunction with FEA, providing a versatile framework for engineering optimization.
Co-Authors Delgoshaei, Aidin Haohao, Ma Haoyang, Zhang Mohd Idris Shah Ismail Ramli, Hafiz Rashidi Rashidi Ramli, Hafiz Saad, Mohd Sazli Shah Ismail, Mohd Idris Xuping, Wu Zuhri, Mohd Yusoff Moh