Hybrid Mutation Fruit Fly Optimization Algorithm for Solving the Inverse Kinematics of a Redundant Robot Manipulator

Table 1

DH parameters for the left arm ( is the axis).

	(mm)	(degree)	(mm)	(degree)	(degree)	(degree)
1	166	0	−30	−90	−168.5	168.5
2	0	0	30	90	−143.5	43.5
3	251.5	0	40.5	−90	−123.5	80
4	0	−90	40.5	−90	−290	290
5	265	180	27	−90	−88	138
6	0	0	−27	90	−229	229
7	36	0	0	0	−168.5	168.5