Using Genetic Algorithms to Solve Sub-Link's Parameters of Flexible Link

摘要

A genetic algorithm of real number type is used to solve the equations of the sub links parameters when modeling a flexible robot manipulator with the sub links approach. It is the key of successfully using the sub links approach that how to solve the equations of the sub links parameters. However, the set of equations is high non linear. The general solving approach is hardly fit for it because of lack of initial vector that enough close to the solution. Some approach possessed the ability of large scale convergence is failing too because of the singularity of the Jacobian matrix of the equations. The proposed approach based on genetic algorithm can smoothly solve the equations by optimization method that replace some complicated symbolic calculation by solving simple algebra equations. Then the validity and high efficiency of the proposed approach are showed by a practical example.