LIU Yongchao, HUANG Yumei, WANG Xiaoyue, ZHANG Xueliang, GAO Feng. GENETIC ALGORITHM FOR SOLVING THE INVERSE KINEMATICS PROBLEM OF ROBOT[J]. ROBOT, 1998, 20(6): 421-426.
Citation: LIU Yongchao, HUANG Yumei, WANG Xiaoyue, ZHANG Xueliang, GAO Feng. GENETIC ALGORITHM FOR SOLVING THE INVERSE KINEMATICS PROBLEM OF ROBOT[J]. ROBOT, 1998, 20(6): 421-426.

GENETIC ALGORITHM FOR SOLVING THE INVERSE KINEMATICS PROBLEM OF ROBOT

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  • Received Date: January 19, 1998
  • Published Date: November 14, 1998
  • A new method using genetic algorithm for computing numerical solutions of the inverse kinematics problem for robot is developed in this paper. The proposed method is based on the analysis of previous method.The fitness function for solving the problem is defined. Recording method is provided in order to improve the solution accuracy. Computer simulation shows that the algorithm can be quickly convergent at global optimum, can give out certain solutions for inverse kinematics problem of robot, and can solve the inverse kinematics problem of redundant robot.
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