Inverse kinematic using AIS

The kinematic problem of 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 Clonal Selection to solve the inverse problem on a manipulator arm, to determine its various articulations. The results of simulation are presented to show the validity of the approach suggested above.