engleski

Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots

A microimmune optimization algorithm presented in this paper was considered for solving inverse kinematics of a redundant robotic arm. For this purpose, a multiobjective criterion was defined to compare performances of microimmune and microgenetic algorithms. Multiobjective optimization was used to determine a set of best algorithms, and the microimmune algorithm proved superior in solving a selected optimization problem. The assessment of time needed for algorithms to solve the inverse kinematics problem on-line was made based on the tests carried out on a low-cost microcontroller.

optimization algorithm ; microimmune algorithm ; inverse kinematics ; real time execution

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