New technique for inverse kinematics problems using simulated annealing

One interesting problem in robotics is the inverse kinematics; It consists in easy words to find the correct values for each one of actuators (or degrees of freedom) in a robotic system knowing the final position. Nowadays exist many techniques to solve this kind of problem but unfortunately some techniques require a lot of time and bring a restricted solution that in some cases (like redundant mechanism) is not the best one. This paper presents a new technique for inverse kinematics problem using Simulated Annealing technique; the authors implement a multi-objective cost function in order to find the intermediate set of angles for the transitional points in a trajectory, from the initial position to the final one. This methodology is compared with the classical inverse kinematics solutions in a different kind of examples and is presented the advantages of this technique like reduction of time (CPU processing) and the actuator’s energy consumption using this tool, besides, and comparison with other new techniques, is make and the results of the study is also presented showing the different advantages for the simulated annealing approach. Finally a future work is proposed for improving the results and to implement this technique in industrial problems