Inverse kinematic solution method for a 6-DOF manipulator based on mayfly algorithm

Inverse kinematic solution is a complex problem that requires high accuracy and speed. The analytical solutions obtained by the traditional methods have low accuracy and are time consuming. This paper proposes a method for inverse kinematics of a 6-DOF manipulator based on the mayfly algorithm. This method designs a separate fitness function according to the manipulator structure to ensure that the algorithm simultaneously constrains the position and posture. An adaptive weight factor is introduced into the algorithm to allow it to converge faster and achieve higher accuracy. In this study, the solution accuracy and speed of the proposed method is investigated via simulation experiments. The proposed method is proven to effectively deal with the solution to the inverse kinematic problem of a 6-DOF manipulator.