A Comprehensive Research on the use of Swarm Algorithms in the Inverse Kinematics Solution

A comprehensive study was presented on swarm algorithms used in the inverse kinematic solution which is the basis of robot control in this paper. Because it is a complex and difficult problem group, the inverse kinematic solution is an important problem especially in robot arms with a lot of joints. So, swarm optimization techniques which were inspired by the animals in the nature, are often used by researchers, because these techniques find the best solution in a particular solution space. Artificial bee colony, firefly algorithm and particle swarm algorithm are the swarm techniques mentioned in this study. Since, these algorithms are frequently used in inverse kinematic solution in the literature.