1A1-B11 遺伝的アルゴリズムと解析的手法を併用した冗長ロボットの逆運動学問題の解法

概要

論文の詳細を見る
It is difficult to solve inverse kinematics of an articulated redundant robot, since this problem is nonlinear. In this paper, a method for solving this problem using both genetic algorithm and analytical solution is proposed. This method is divided into three procedures; (1) making a target path from an initial pose to the goal one, (2) solving inverse kinematics by genetic algorithm for tracing this target path toward the goal pose, (3) solving inverse kinematics by an analytical method for realizing accurately the goal pose within the neighborhood of it. As a preliminary example, the effectiveness of this method is confirmed by computer simulation in case of that a 20 DOF robot passes through a hole in a thick wall.
一般社団法人日本機械学会の論文