Microimmune Algorithm for Solving Inverse Kinematics of Redundant Robots

A micro immune optimization algorithm presented in this paper was considered for solving inverse kinematics of a redundant robotic arm. For this purpose, a multiobjective criterion was defined to compare performances of micro immune and micro genetic algorithms. Multiobjective optimization was used to determine a set of best algorithms, and the micro immune algorithm proved superior in solving a selected optimization problem. The assessment of time needed for algorithms to solve the inverse kinematics problem on-line was made based on the tests carried out on a low-cost micro controller.