Inverse Kinematics for a Manipulator Robot based on Differential Evolution Algorithm

摘要

The solution of the inverse kinematics is complicated when the robot is redundant, since there are many solutions. In this work we propose to use the Differential Evolution (DE) algorithm. This algorithm solves the estimation of the end effector pose. The proposed algorithm does not require the inversion of the Jacobian matrix, avoiding falling into singular configurations. The simulation results demonstrate that the proposed algorithm is able to solve the inverse kinematics problem and find optimal configuration for a redundant manipulator.