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Erschienen in:
Synchronized Control of Mechanical Systems: A Tutorial Kapitel lesen Erstes Kapitel lesen

2014 | OriginalPaper | Buchkapitel

10. Development of an Improved Genetic Algorithm for Resolving Inverse Kinematics of Virtual Human’s Upper Limb Kinematics Chain

verfasst von : Gangfeng Deng, Xianxiang Huang, Qinhe Gao, Ying Zhan, Quanmin Zhu

Erschienen in: Applied Methods and Techniques for Mechatronic Systems

Verlag: Springer Berlin Heidelberg

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Abstract

Inverse kinematics is the key technique in virtual human motion control and it is difficult to obtain the solutions by using geometric, algebraic, or iterative algorithms. In this chapter, an Improved Genetic Algorithm (IGA) is proposed to resolve the inverse kinematics problem in upper limb kinematics chain (ULKC). First, the joint-units of ULKC and its mathematical models are constructed by using D–H method; then population diversity and population initialization are accomplished by simulating human population, and the adaptive operators for mutation are designed. The simulation results show that compared with the Standard Genetic Algorithm (SGA), the IGA can provide higher precise solutions in searching process and avoid “premature” stop or inefficient searching in later stage with high probability.

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Vorheriges Kapitel Applied Methods and Techniques for Modeling and Control on Micro-Blog Data Crawler
Nächstes Kapitel Sliding Mode Control for Nonlinear Discrete Time Systems with Matching Perturbations
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Metadaten
Titel
Development of an Improved Genetic Algorithm for Resolving Inverse Kinematics of Virtual Human’s Upper Limb Kinematics Chain
verfasst von
Gangfeng Deng
Xianxiang Huang
Qinhe Gao
Ying Zhan
Quanmin Zhu
Copyright-Jahr
2014
Verlag
Springer Berlin Heidelberg
Buch
Applied Methods and Techniques for Mechatronic Systems

Print ISBN: 978-3-642-36384-9

Electronic ISBN: 978-3-642-36385-6

Copyright-Jahr: 2014

DOI
https://doi.org/10.1007/978-3-642-36385-6_10

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