Table 2.

The correspondence between EOSMA and IK problem.

Biological principle	EOSMA	IK problem
Slime mould location	Search agent location pBest	Candidate joint angles of the manipulator
The venous form of slime mould	Global optimum location gBest	The best joint angle
Food odor concentration	Fitness value S	The error between the end-effector poses corresponding to the candidate joint angles and the desired pose
Positive and negative feedback	Search agent location weights W	Weight of candidate joint angles
Transition contraction mode	Adaptive parameter z	Update method of candidate joint angles
Close to or away from food sources	Adaptive parameter vb	Update direction of candidate joint angles