An approach for robot inverse velocity solution using genetic algorithm

被引：4

作者：

Zhang, YG ^{[1
]}

Huang, YM ^{[1
]}

Lin, YZ ^{[1
]}

Cheng, XA ^{[1
]}

Gao, F ^{[1
]}

机构：

[1] Xian Univ Technol, Inst Machine & Automat, Xian 710048, Peoples R China

来源：

PROCEEDINGS OF THE 2004 INTERNATIONAL CONFERENCE ON MACHINE LEARNING AND CYBERNETICS, VOLS 1-7 | 2004年

关键词：

robot; inverse velocity solution; velocity recursion; genetic algorithm;

D O I：

10.1109/ICMLC.2004.1378536

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Aimed at the difficulty of calculating inverse Jacobian matrix to solve inverse velocity problem of the serial robot which has less than 6 degree-of-freedom (DOF), an approach for solving the robot inverse velocity problem has been proposed, in which the genetic algorithm and robot link's velocity recursive formula are employed to avoid inverse Jacobian matrix calculation. It is proved to be viable by practical computation of a 5-DOF robot and has pragmatic value with the characteristic of simple programming owing to the velocity recursive formula adopted.

引用

页码：2944 / 2948

页数：5