关键词: 遗传算法, 能量优化, 机械臂, 运动学反解

Abstract: Using parse method to solve the problem of inverse kinematic solution only suits the manipulators with specifically structure. Aiming at the limitation, this paper proposes the GA（Genetic Algorithms） with optimization on energy consuming to get the solution. In order to the convenience on calculation, proposes the four-link simplified module based on the kinematic analytic of manipulator. Under the limitation of the upper limit and the lower limit, use the real number to code the comparative chromosome. Use the change of potential energy and the distance between the end of manipulator and the expected position to calculate the adaptation. Use the way of probability to realize the selection, crossover and mutation. The results show that the proposed method is valid on inverse kinematic solution of manipulator.

Key words: Genetic Algorithm, optimization on energy, manipulator, inverse kinematic solution