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

Table 5

An inverse kinematics solution corresponding to the best fitness of each algorithm.

	FOA	LGMS-FOA	AE-LGMS-FOA	IFOA	SFOA	HMFOA
θ1/rad	0.0976126056	−1.0839133510	−2.6595857928	0.0879773602	0.2928215864	−2.7714570693
θ2/rad	−1.0722179601	−2.4772682366	−1.3854268665	0.1076406335	−0.3252784200	−1.2864166263
θ3/rad	0.1066073486	−0.4238387176	−0.8803102621	0.0778478430	0.2793738833	−1.1659304990
θ4/rad	5.0187740095	−4.5222500892	−4.8530768097	0.0983433196	0.5282601969	1.4498210529
θ5/rad	0.0666429414	1.3790609675	0.0041955026	0.3085488511	0.3596046188	0.3811435232
θ6/rad	0.0906599000	1.3828761741	3.3703822119	0.0943219901	−0.2018160421	3.4299412880
θ7/rad	0.9180238304	0.3766713486	−1.0054925913	0.0726914072	0.5789474603	−0.3168192999