Solutions of the inverse kinematic problem for manipulation robots based on the genetic algorithm

摘要

Abstract Using simple examples, an unconventional method for solving the inverse kinematic problem for manipulation robots is considered. The classical nonlinear formulation of this problem is reduced to the optimization problem. To solve which it is proposed to use the stochastic method, implemented based on a genetic algorithm. As the optimization criterion (fitness function), the square of the deviation of the position of the tool center point of the manipulation robot from the given trajectory point is selected. Various kinematic schemes of manipulation systems (flat, spatial, with kinematic redundancy) are investigated. The algorithm showed good convergence with a given accuracy, including multivariate solutions to the problem.