An approach for robot inverse velocity solution using genetic algorithm

摘要

Aimed at the difficulty of calculating inverse Jacobian matrix to solve inverse velocity problem of the serial robot which has less than 6 degree-of-freedom (DOF), an approach for solving the robot inverse velocity problem has been proposed, in which the genetic algorithm and robot link's velocity recursive formula are employed to avoid inverse Jacobian matrix calculation. It is proved to be viable by practical computation of a 5-DOF robot and has pragmatic value with the characteristic of simple programming owing to the velocity recursive formula adopted.