A new numerical method to solve the inverse kinematics solution problem of serial manipulators is developed in this paper. The proposed method is known as Differential Evolution (DE), a novel and efficient numerical method which has been adapted to solve the inverse kinematics solution of 3R serial manipulator of general geometry. Besides, the paper contains the complete structuring for the implementation of this new case in SnAP, a comprehensive software package for synthesis, analysis and simulation of serial manipulators. The DE method is stable since it converges to the solution with any initial values, and it is not sensitive to the singular configurations of serial manipulators. Simulation results are presented to show the performance benefits of the proposed algorithm. Computational efficiency of the method is shown based on the results, as well as in comparison with traditional methods used in this problem.

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