Kinematic Analysis of Robotic Manipulator using Genetic Algorithm

DOI

10.2991/978-94-6239-750-7_24How to use a DOI?

Keywords

Inverse Kinematics; Forward Kinematics; Genetic Algorithms

Abstract

Kinematic analysis is needed for the design, simulation, and control of robotic manipulators and mainly in tasks like pick and place operations, material handling and automated assembly. Forward kinematics provides a direct, well-defined way to compute the end-effector position from the joint angles. However, inverse kinematics is more complex, nonlinear and may produce multiple solutions, specifically when dealing with manipulators with higher degrees of freedom or redundancy. Traditional analytical or numerical approaches can struggle with complicated trigonometric calculations, sensitivity to starting values, slow convergence behaviour and difficulty handling joint limits, redundancy, or singular configurations. To address these limitations, Genetic Algorithms (GA) are adopted in this research as an effective and efficient optimization method for solving inverse kinematics of robotic manipulators. This work studies the forward and the inverse kinematic behaviour of 2-DOF, 3- DOF and 4- DOF serial manipulators. The forward kinematics is obtained through trigonometric analysis, whereas inverse kinematics is solved using an optimization-based approach. The GA reduces the difference between the desired target point and the end-effector position obtained from the candidate joint-angle set. To achieve accurate and stable results, the genetic algorithms use real-coded chromosomes, tournament selection, arithmetic crossover, Gaussian mutation, and elitism. The simulation results show that the method produces minimal positioning error and provides consistent convergence for manipulators with different numbers of links.

Copyright

© 2026 The Author(s)

Open Access

Open Access This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International License (http://creativecommons.org/licenses/by-nc/4.0/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.

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TY  - CONF
AU  - Himanshu Tiwari
AU  - Ram Bilas Prasad
PY  - 2026
DA  - 2026/08/31
TI  - Kinematic Analysis of Robotic Manipulator using Genetic Algorithm
BT  - Proceedings of the International Conference on Advanced Design, Manufacturing, and Sustainable Energy Systems (ICADMSES 2026)
PB  - Atlantis Press
SP  - 332
EP  - 343
SN  - 2589-4943
UR  - https://doi.org/10.2991/978-94-6239-750-7_24
DO  - 10.2991/978-94-6239-750-7_24
ID  - Tiwari2026
ER  -