Abstract
To obtain optimized inverse kinematics solution for a class of redundant mobile manipulator (MM) quickly and accurately, an inverse kinematics method based on genetic trust region algorithm combined with analytical solution is proposed. Manipulator's inverse kinematics expressions expressed by mobile vehicle's movement parameters are derived. The flexibility principle to determine the objective function for trust region algorithm is introduced. Finally, the optimization problem of the objective function by genetic trust region algorithm to get the inverse kinematics solutions of mobile manipulator is solved. Simulations show that the method can quickly obtain precised and optimized inverse kinematics solutions.
| Original language | English |
|---|---|
| Pages (from-to) | 51-55 |
| Number of pages | 5 |
| Journal | Beijing Youdian Xueyuan Xuebao/Journal of Beijing University of Posts And Telecommunications |
| Volume | 32 |
| Issue number | 5 |
| State | Published - Oct 2009 |
Keywords
- Genetic trust region
- Hybrid optimization
- Kinematics of mobile manipulator
- Redundant robot
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