{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,10]],"date-time":"2026-04-10T14:54:20Z","timestamp":1775832860878,"version":"3.50.1"},"reference-count":55,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2023,3,9]],"date-time":"2023-03-09T00:00:00Z","timestamp":1678320000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>The bat algorithm (BA) is a nature inspired algorithm which is mimicking the bio-sensing characteristics of bats, known as echolocation. This paper suggests a Bat-based meta-heuristic for the inverse kinematics problem of a robotic arm. An intrinsically modified BA is proposed to find an inverse kinematics (IK) solution, respecting a minimum variation of the joints\u2019 elongation from the initial configuration of the robot manipulator to the proposed new pause position. The proposed method is called IK-BA, it stands for a specific bat algorithm dedicated to robotic-arms\u2019 inverse geometric solution, and where the elongation control mechanism is embedded in bat agents update equations. Performances analysis and comparatives to related state of art meta-heuristics solvers showed the effectiveness of the proposed IK bat solver for single point IK planning as well as for geometric path planning, which may have several industrial applications. IK-BA was also applied to a real robotic arm with a spherical wrist as a proof of concept and pertinence of the proposed approach.<\/jats:p>","DOI":"10.3390\/robotics12020038","type":"journal-article","created":{"date-parts":[[2023,3,10]],"date-time":"2023-03-10T02:05:54Z","timestamp":1678413954000},"page":"38","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Inverse Kinematic Solver Based on Bat Algorithm for Robotic Arm Path Planning"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5937-5195","authenticated-orcid":false,"given":"Mohamed","family":"Slim","sequence":"first","affiliation":[{"name":"Ecole National Sup d\u2019ing\u00e9nieurs de Tunis, University of Tunis, Tunis 1008, Tunisia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4848-5855","authenticated-orcid":false,"given":"Nizar","family":"Rokbani","sequence":"additional","affiliation":[{"name":"Institut Sup des Sciences Appliqu\u00e9s et de Technologie de Sousse, Universit\u00e9 de Sousse, Sousse 4003, Tunisia"},{"name":"Research Group on Intelligent Machines, Regim-Lab, University of Sfax, BP 1173, Sfax 3038, Tunisia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1147-4896","authenticated-orcid":false,"given":"Bilel","family":"Neji","sequence":"additional","affiliation":[{"name":"College of Engineering and Technology, American University of Middle East, Egaila 54200, Kuwait"}]},{"given":"Mohamed Ali","family":"Terres","sequence":"additional","affiliation":[{"name":"Ecole National Sup d\u2019ing\u00e9nieurs de Tunis, University of Tunis, Tunis 1008, Tunisia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5939-7116","authenticated-orcid":false,"given":"Taha","family":"Beyrouthy","sequence":"additional","affiliation":[{"name":"College of Engineering and Technology, American University of Middle East, Egaila 54200, Kuwait"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,9]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"43","DOI":"10.1109\/MRA.2007.339623","article-title":"Modular Self-Reconfigurable Robot Systems [Grand Challenges of Robotics]","volume":"14","author":"Yim","year":"2007","journal-title":"IEEE Robot. 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