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For dealing with the complexity in gaining solution for inverse kinematics of 7-DOF manipulator, a new approach based on GA (genetic algorithm) is proposed. To solve the problem of multi-solution caused by redundancy, a rule for a joint of "best compliance" based on weighted least square method is supposed at the beginning of this paper, which makes the multi-solution a mono-one with application of genetic algorithm to search for all global optimum solutions. Satisfactory result has been achieved. Simulation shows that the method proposed in the paper is feasible, provides a new approach for inverse kinematics solution of manipulator of any redundancy.