Dynamic optimization of a robot manipulator based on GA

Aimed at a 6 degrees of freedom (DOFs) articulated robot manipulator, using Newton-Euler method to establish it's dynamical model, then to find out the pose of the maximal joints driving moment and regard this pose as the worst case of the robot, some dynamic parameters of the manipulator has been optimized by using genetic algorithm(GA) and employing the model as fitness function of GA so as to improve the dynamical performance of the robot manipulator.