Title :
Computing robot configurations using a genetic algorithm for multimodal optimization
Author :
Van De Logt, G. ; Walter, Markus
Author_Institution :
Inst. for Syst. Theor., Saarlandes Univ., Saarbrucken, Germany
Abstract :
This paper describes a general approach for robot inverse kinematic transformation, which computes all possible solutions of this multimodal problem. A function which computes the error between two tool center points (TCPs) is minimized by an advanced genetic algorithm. This multi-population genetic algorithm uses exchange and migration operators for computing all solutions of multimodal optimization problems
Keywords :
errors; functional analysis; genetic algorithms; inverse problems; mathematical operators; minimisation; robot kinematics; error function minimization; exchange operator; migration operator; multi-population genetic algorithm; multimodal optimization; robot configurations; robot inverse kinematic transformation; tool center points; Computational modeling; Costs; Genetic algorithms; Genetic mutations; Jacobian matrices; Kinematics; Optimization methods; Production; Robotics and automation; Service robots;
Conference_Titel :
Evolutionary Computation Proceedings, 1998. IEEE World Congress on Computational Intelligence., The 1998 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-4869-9
DOI :
10.1109/ICEC.1998.699751
