Abstract
This paper presents an original use of Evolutionary
Algorithms in order to approximate by a closed form the
inverse kinematic model (IKM) of analytical,
non-analytical and general (i.e. with an arbitrary
geometry) manipulators. The objective is to provide a
fast and general solution to the inverse kinematic
problem when it is extensively evaluated as in design
processes of manipulators. A mathematical function is
evolved through Genetic Programming according to the
known direct kinematic model to determine an analytical
expression which approximates the joint variable
solution for a given end-effector configuration. As an
illustration of this evolutionary symbolic regression
process, the inverse kinematic models of the PUMA and
the GMF Arc Mate are approximated before to apply the
algorithm to general 6R manipulators.
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