Algorithm Based on Analytical Method and Genetic Algorithm for Inverse Kinematics of Redundant Manipulator
Li Wen · Jisuanji fangzhen · 2012
This paper presented an algorithm for solving the inverse kinematics of planar 3-DOF redundant manipulators by combining analytical method with genetic algorithm.The proposed algorithm was characterized by reduced computation and improved adaptability.Given the manipulator end-effector path,each point on the path corresponds to infinite combinations of joint angles because the manipulator has the redundant degree of freedom.This algorithm can find a set of optimal joint angles for the process of the manipulator motion to meet flexibility and obstacle avoidance,and thus can be used to calculate inverse kinematics of redundant manipulator and to achieve path planning and obstacle avoidance.The simulation result shows that the proposed algorithm converges quickly to the global optimal solution.