Adaptive ANN-BFO Hybrid Method for Solving the Forward Kinematics Problem of a Hexa Parallel Robot

This paper introduces an adaptive hybrid approach to address the forward kinematics problem of a Hexa parallel robot (HPR), known for its challenge in obtaining a unique closed-form analytic solution. In the initial stage, we construct an artificial neural network (ANN) model to rapidly generate a preliminary result, effectively narrowing the search space. Subsequently, bacterial foraging optimization (BFO) is adapted to refine the result by focusing on exploration within the reduced search space. Adaptive functions adjust BFO parameters based on the error level in the preliminary result, enhancing algorithm performance. Software is developed to demonstrate the practical application of this method. Experimental results within the robot workspace indicate a significant reduction in calculation errors compared to using only the ANN model.