Genetic Algorithms for the Resolution of the Inverse Kinematics Problem

• Shaherhji Momani

  English

  Author

• S. Abo-Hammoursdc

  English

  Author

The paper presents a genetic algorithm (GA) solution to the inverse kinematics problem of robot manipulators. Two versions of GA are used, the
conventional GA and the continuous GA. The inverse kinematics problem is defined as an optimization problem based on the idea of minimizing the
accumulative path deviation in a workspace without obstacles. The simulation results show that the continuous GA performs better than the
conventional GA in every aspect. The continuous GA is superior because it always provides faster and smoother solutions than the conventional GA.

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