Title :
A New Solution for Inverse Kinematics of 7-DOF Manipulator Based on Genetic Algorithm
Author :
Yang, Yugui ; Peng, Guangzheng ; Wang, Yifeng ; Zhang, Hongli
Author_Institution :
Beijing Inst. of Technol., Beijing
Abstract :
For dealing with the complexity in gaining solution for inverse kinematics of 7-DOF manipulator, a new approach based on GA (genetic algorithm) is proposed. To solve the problem of multi-solution caused by redundancy, a rule for a joint of "best compliance" based on weighted least square method is supposed at the beginning of this paper, which makes the multi-solution a mono-one with application of genetic algorithm to search for all global optimum solutions. Satisfactory result has been achieved. Simulation shows that the method proposed in the paper is feasible, provides a new approach for inverse kinematics solution of manipulator of any redundancy.
Keywords :
genetic algorithms; manipulator kinematics; redundant manipulators; 7-degree of freedom manipulator; genetic algorithm; global optimum solutions; inverse kinematics; weighted least square method; Automation; Equations; Genetic algorithms; Humanoid robots; Kinematics; Least squares methods; Logistics; Manipulator dynamics; Matrices; Partial response channels; GA; Inverse kinematics; Joint compliance; Redundant manipulator;
Conference_Titel :
Automation and Logistics, 2007 IEEE International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-1-4244-1531-1
DOI :
10.1109/ICAL.2007.4338892
