A Genetic Algorithm Approach to solve for Multiple Solutions of Inverse Kinematics using Adaptive Niching and Clustering

Abstract

Inverse kinematics is a nonlinear problem that may have multiple solutions. A Genetic Algorithm(GA) for solving the inverse kinematics of a serial robotic manipulator is presented. The algorithm is capable of finding multiple solutions of the inverse kinematics through niching methods. Despite the fact that the number and position of solutions in the search… (More)
DOI: 10.1109/CEC.2006.1688527

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Cite this paper

@article{Tabandeh2006AGA, title={A Genetic Algorithm Approach to solve for Multiple Solutions of Inverse Kinematics using Adaptive Niching and Clustering}, author={Saleh Tabandeh and C. Clark and William W. Melek}, journal={2006 IEEE International Conference on Evolutionary Computation}, year={2006}, pages={1815-1822} }