The Optimization of Genetic Algorithm Based on Hydraulic Cylinder Position of the Exoskeleton Robot

Human walking with multiple joints movement, The degrees of freedom is more, Movement is complicated, multiobjective and multiple constraints of continuous function, Common optimization algorithm is required more design variables and large range of computing information, convergence difficulties are existed in these methods, easy to be fell into local extremum, making the optimization results appear deviation. In order to solve optimization problem of continuous function, the mathematical model of hydraulic cylinder and the key joints about exoskeleton robot is established, improved genetic algorithm which combined a nonlinear programming problem with genetic algorithm is applied to optimize exoskeleton mathematical model, the installation position size of the hydraulic cylinder and hydraulic cylinder work pressure was received, And the optimization results are further analyzed to get the final hydraulic cylinder position size.