Inverse Kinematics Solution of Manipulator Based on Information Entropy and Artificial Immune Algorithm

The inverse kinematics of manipulator is of great significance to both theory and practice. The function of the approximation of inverse kinematics for a redundant manipulator planning is investigated using immune algorithm. A method based on information entropy to calculate both the fitness and the density of antibodies is brought forward according to the special structure of the manipulator. With this method, the function can be solved accurately and rapidly. The penalty function is used in the process of solution to make sure that the manipulator based on this method can move more flexibly. The validity of this method is shown by simulation.