Analysis of the Inverse Kinematics and Trajectory Planning Applied in a Classic Collaborative Industrial Robotic Manipulator



Trajectory Planning, Genetic Algorithms, Comparative Analysis, Collaborative Robotics, Artificial Neural Networks


In this work, the approaches of genetic algorithms (GA) and artificial neural networks (ANN) are compared to solve the inverse kinematics applied in a robotic manipulator. The method with the best result in the comparison is then used to act in conjunction with another concept of robotics which is collaborative robotics, responsible for increasing the safety of both the manipulator and the human being when an object and/or person appears in the trajectory of the manipulator. The classic concept of inverse kinematics is related to the relatively new concept of collaborative robotics through trajectory planning, which in this work used the fifth-order polynomial due to its ability to control position, speed, and acceleration. According to the results obtained, the best method in the comparison for the solution of the inverse kinematics was that of artificial neural networks because it has the shortest response time and the most robust results.


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Author Biographies

Márcio Mendonça, Universidade Tecnológica Federal do Paraná

Márcio Mendonça Márcio Mendonça received the B.Sc. in Electronics Engineering from Universidade de Lins (1993), the M.Sc. at Industrial Engineering from Universidade Estadual Paulista Júlio de Mesquita Filho (2003) and Ph.D. degree in Electrical Engineering from the Universidade Tecnológica Federal do Paraná (2011) where he is currently a Lecturer. He has experience in Electrical Engineering with emphasis on Automation and Industrial Process, acting on the following subjects: computer vision and intelligent systems to autonomous navigation.

Rodrigo H. C. Palácios, Universidade Tecnológica Federal do Paraná

Rodrigo Henrique Cunha Palácios was born in Cornélio Procópio, Brazil, in 1977. He received the B.S. degree in computer engineering from the Universidade Norte do Paraná, Londrina, Brazil, in 2002, the M.Sc. degree in electrical engineering from the Universidade de Londrina, Londrina, Brazil, in 2010. Currently he is pursuing Ph.D. degree in electrical engineering in the Universidade de São Paulo (USP), São Paulo, and is a Professor with the Universidade Tecnológica Federal do Paraná, Cornélio Procópio, Brazil. His research interests are within the fifields of electrical machinery, expert systems, and computer vision.

Ricardo Breganon, Instituto Federal do Paraná

Ricardo Breganon graduated in Production Engineering from Estacio de Sa University and in Mechanical Technology from Universidade Tecnológica Federal do Paraná, M.Sc. degree in Mechanical Engineering and Ph.D. degree in Mechanical Engineering with concentration in Aeronautical from Universidade de São Paulo. At this moment, he is Control and Industrial Processes Professor in IFPR (Instituto Federal do Paraná), Jacarezinho. His research interests include Industrial Automation and Dynamic Systems Control.

Lucas Botoni de Souza, Universidade Tecnológica Federal do Paraná

Lucas Botoni de Souza was born in Lins, Brazil, in 1994. He received the B.S. degree in control and automation engineering from the Universidade Tecnológica Federal do Paraná, Cornélio Procópio, Brazil, in 2017. He received his M.Sc. degree in mechanical engineering at Universidade Tecnológica Federal do Paraná, Cornélio Procópio, Brazil, in 2020. His research interests are within the fifields of intelligent systems, fuzzy cognitive maps, and robotics.

Lillyane Rodrigues Cintra Moura, Universidade Tecnológica Federal do Paraná

Lillyane Rodrigues Cintra Moura received the B.S. degree in mechanical engineering from the Universidade Tecnológica Federal do Paraná, Cornélio Procópio, Brazil, in 2017. She is currently pursuing her in Mechanical Engineering at Universidade Tecnológica Federal do Paraná. Her research interests are within the fields of control systems and robotics.


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How to Cite

Mendonça, M., H. C. Palácios, R., Breganon, R., Botoni de Souza, L., & Rodrigues Cintra Moura, L. . (2021). Analysis of the Inverse Kinematics and Trajectory Planning Applied in a Classic Collaborative Industrial Robotic Manipulator. IEEE Latin America Transactions, 20(3), 363–371. Retrieved from