Inverse kinematic multiobjective optimization for a vehicle-arm robot system using evolutionary algorithms

摘要

This work is aimed at discussing the solution of the inverse kinematic problem using Multi-Objective Evolutionary Algorithms (MOEA) for a vehicle-arm redundant robot. A simplified 5 DoF model was used to simulate the problem and the objective functions were properly selected assuming underwater operation. In addition, we present a review of the most important techniques used for solving the inverse kinematic problem, focusing at the end on the application of a Non-Dominated, Sorting, Elitist MOEA with nonlinear constraints.