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Research on Implicit Genetic Inverse Solution Algorithm for Eight-DOF Mechanical Arm of Photography Robot

  • Qi Dong
  • Xingang MiaoEmail author
  • Su Wang
  • Xingai Peng
Conference paper
Part of the Transactions on Intelligent Welding Manufacturing book series (TRINWM)

Abstract

In this paper, an implicit genetic algorithm is proposed to solve the inverse kinematics problem of a robot with redundant degree of freedom. The robots use DH model calibration. Any two-dimensional double-redundant vector is chosen as the individual, and the kinematics of the photography robot is solved by genetic algorithm. In an infinite inverse solution, an effective inverse solution is achieved by optimizing the objective function. MATLAB is used to verify the optimal solution. Optimizing the posture of the robot can improve the robot’s position and posture accuracy. The photography robot is installed on the welding robot head, and the accuracy of the welding spot can be improved through image positioning.

Keywords

Photography robot Inverse kinematics Redundant degrees of freedom Implicit genetic algorithm 

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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  1. 1.Beijing Key Laboratory of Robot Bionics and Function ResearchBeijing University of Civil, Engineering and ArchitectureBeijingChina
  2. 2.China Petroleum Pipeline Engineering CorporationLangfangChina

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