Notice of RetractionSimulation on whole inverse kinematics of a 5R robot based on hybrid genetic algorithm

Notice of Retraction

After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.

As the trouble of deriving robot inverse kinematics analytical expression on pose (position & orientation), the complexity of Jacobian matrix and second order influence coefficient matrix of a robot, and the difficulty of calculating inverse Jacobian matrix, the robot simulation of whole inverse kinematics problem on pose, velocity and acceleration is more difficult for a 5R robot. In order to reduce the difficulty, an approach for solving the robot inverse problem of pose, velocity and acceleration has been proposed in this paper, In which the forward pose equation only need to be constructed firstly, and then the forward pose equation and robot link´s velocity and acceleration recursive formulas are employed to calculate joint position, velocity and acceleration using hybrid genetic algorithm (HGA). This can avoid computing inverse Jacobian matrix and the second order influence coefficient matrix, and is proved to be viable by practical computation of a 5R robot inverse whole kinematics.