关键词: 遗传算法, 工业机械臂, 运动学逆问题

Abstract: In this paper, genetic algorithm is applied to the inverse problem of manipulator kinematics and the population is defined on the manipulator joints path level. The initialization operator, crossover operator and mutation operator of the algorithm are implemented by continuous function. The algorithm uses only the phenotype data presentation, which overcomes the conventional genetic algorithm frequently carrying out coding and decoding operations in the data between the genotype and phenotype. With the conventional genetic algorithm carried on the contrast analysis, it is observed that the proposed method can avoid the disadvantage of the conventional genetic algorithm having multiple switching points for solving the inverse kinematics problem, obtain a smoother joint angle trajectory, shorten the convergence time of the algorithm, and the Cartesian trajectory generated has higher accuracy.

Key words: genetic algorithm, industrial manipulator, inverse kinematic