Inverse Kinematics Solution and Analysis for multi-DOF Mobile Manipulator

The inverse kinematics solution of the multi-DOF mobile manipulator is developed in the paper. The differential evolution (DE) algorithm is employed for solving the inverse kinematics of the mobile manipulator with 2P 7R configuration due to its main advantages of fast convergence, few control parameters, good robustness, etc. The weighted value of pose error of the end effector and the position error of each joint configuration is used as the fitness function and the motion limit of each joint configuration is used as the constraint condition. Numerical simulations are performed to test the performance in the inverse kinematics solution for the mobile manipulator with 2P7R configuration, which indicates that the DE algorithm can maintain the smaller position and pose error than the other intelligent algorithm.