Solving Indirect Kinematic Problem Using Clonal Selection

Serrat A¹, Benyettou M²

^1,2Lamosi, Universite des Sciences et de Technologies d'Oran,Oran, Algérie

Abstract

The problem of articular angles' estimation for serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and kinematic problems. The former reduces matrix multiplications, and poses no major problem. The inverse kinematic problems,however, is more challenging, for it involves intensive variable-elimination and nonlinear-equation solving. In this work,we have used the Artificial Immune System to solve the inverse problem on a manipulator arm, to determine its various particulations. The results of simulation are presented to show the validity of the approach suggested above.

Keywords

• Artificial Immune System, estimation, articular angles' Problem, manipulator

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Cite this Article as Follows

Serrat A, Benyettou M. Solving Indirect Kinematic Problem Using Clonal Selection. International Conference on Human Machine Interaction 2014. Vol. 1. Chennai: Association of Scientists, Developers and Faculties, 2014. 7-11. Print.