The Inverse Kinematics solutions for Robot Manipulators based on Firefly Algorithm

The solution of the inverse kinematics of robot manipulators may have multiple joints configurations that reach the same end effector pose. These redundant solutions may provide a collision free joint configuration for a safe inverse kinematics task. In this work, we propose to solve the inverse kinematics problem for robot manipulators using the Firefly Algorithm. The proposed method is able to provide one or more solutions for the given inverse kinematics task. Since the method does not required the inversion of any Jacobian matrix, it avoids singularities configurations. Applicability of the proposed approach is illustrated in simulations using a five degree of freedom arm manipulator.