Genetic inversion of robot dynamics for trajectory control

The use of genetic algorithms to solve the dynamic plant inversion problem is discussed in the context of the inversion of robot dynamics for trajectory control. This discussion is illustrated by the presentation of numerical results for the genetic inversion of the dynamics of a typical three-degree-of-freedom robotic manipulator. It is pointed out that the same basic genetic inversion technique is applicable to desired trajectories specified either in joint space or task space.<>