Inverse Kinematic Solutions of Dual Redundant Camera Robot Based on Genetic Algorithm

摘要

Inverse kinematic solutions for a dual redundant camera robot in position are examined in order to alleviate operation difficulty and reduce time. The inverse kinematic algorithm is based on a basic genetic algorithm, and the genetic algorithm which is used to solve the problem of a redundant robot is mainly optimized in the joint space. On this basis, the genetic algorithm improvement strategies are studied. In this paper, a genetic algorithm with constrained 2 redundant degrees of freedom (DOF) is proposed through setting 2 parameter variables, with more flexible structure of optimization objective function and more efficient algorithm than basic genetic algorithm. Finally, the result of inverse kinematic algorithm is achieved in terms of the physical prototype.