Solving Approach of Inverse Kinematics for Manipulators Based on Improved Adaptive Niche Genetic Algorithm

被引：0
|
作者：
Yang H. [1 ,2 ]
Liu X. [1 ,2 ]
机构：
[1] School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an
[2] National Key Laboratory of Underwater Information and Control, Xi'an
来源：
Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University | 2019年 / 37卷 / 03期
关键词：
Adaptive niche; Genetic algorithm; Inverse kinematics (IK); Manipulator; Optimal solution;
D O I：
10.1051/jnwpu/20193730488
中图分类号：
学科分类号：
摘要：
Solving the inverse kinematics for a manipulator is of great importance to the manipulator's pose control and trajectory planning. Aiming at the poor generality and difficulty of finding an optimal solution from the multiple inverse kinematics solutions, a novel solution approach based on the modified adaptive niche genetic algorithm is proposed in this study. The principle of 'most suppleness' is integrated into the fitness function such that the only optimal solution can be found; The clustering is introduced into the approach for enhancing the generality and the genetic algorithm is improved for increasing the convergence speed and accuracy. Simulation results based on a six degree of freedom manipulator show that the proposed approach is effective and high precision, and can find the optimal solution. © 2019 Journal of Northwestern Polytechnical University.
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页码：488 / 495
页数：7
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