An improved GA-based inverse kinematics solution algorithm for underwater manipulators

In order to perform underwater operations in complex ocean environment, it is of great significance to develop underwater manipulators with flexible motion ability, accurate operation ability and strong environmental adaptability. This paper mainly studies the inverse kinematics solution of an underwater manipulator. Firstly, the forward kinematics model of a six-degree-of-freedom manipulator is established using the D-H method. Secondly, an improved GA-based inverse kinematics solution algorithm is proposed, which introduces the idea of niche and simulated annealing algorithm to improve the global search ability of traditional genetic algorithm. Finally, the effectiveness of the algorithm is verified by simulation experiments.