关键词: 上肢运动链, 逆向运动学, D-H方法, 遗传算法, 种群初始化

Abstract: An Improved Genetic Algorithm (IGA) was proposed for the inverse kinematics problem solution of upper limb kinematic chain which had high degree of freedom and was too complex to be solved by using geometric, algebraic, and iterative methods. First, the joint-units of upper limb kinematic chain and its mathematical modeling were constructed by using Denavit-Hartenberg (D-H) method, then population diversity and initialization were completed based on simulating human being population, and the adaptive operators for crossover and mutation were designed. The simulation results show that the IGA can search the high precise solutions and avoid prematurity convergence or inefficient searching in later stage with larger probability than standard genetic algorithm.

Key words: upper limb kinematic chain, inverse kinematics, D-H method, genetic algorithm, population initialization