Inverse Kinematics of Arbitrary Robotic Manipulators Using Genetic Algorithms
نویسندگان
چکیده
In this paper we present a uniied approach for solving the inverse kinematics problem of an arbitrary robotic manipulator based on Genetic Algorithms. The tness function we use in our algorithm does a multi-objective optimization satisfying both the position and orientation of the end-eeector. As an example we show how this approach can be used for computing the motion of an n-R robotic manipulator following a speciied end-eeector path. To avoid unnecessary manipulator undulations in case of a redundant design, we thereby introduce a third objective to our tness function minimizing the discrete joint velocities. Unlike Jacobian-based solutions our approach deals eeciently with redundant designs and singularities.
منابع مشابه
GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)
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