Study Of Genetic Algorithms For Robot Inverse Kinematics Problem

This paper presents a Modified Genetic Algorithm after studied thenumerical optimization model of manipulator inverse kinematics．Succeed inconstructing a group of parameters to solve the inverse kinematics of manykinds of manipulator．Finally,simulations on the manipulators have beengiven．This paper contains mainly the following: I．Analyzed the kinematics of manipulators．The constructions of thekinematics equation of manipulators have been presented,along with themathematic foundations of the kinematics． 2．Genetic Algorithms theory and its modification．Introduce on thetheory of Genetic Algorithms briefly,introduce on main steps of SimpleGenetic Algorithms．and analyze the shortcoming of Simple GeneticAlgorithms and some modified strategies of it． 3．Modified Genetic Algorithm．The numerical optimization model ofthe inverse kinematics of manipulator has been presented,with main contextsof Modified Genetic Algorithm． Finally,the perfect and robust control parameters have been presented after the many simulations．...