An Inverse Kinematics Analysis of Space Station Remote Manipulator System (SSRMS) Using Genetic Algorithms

The importance of RobotArms (Serial Manipulators) is increasing rapidly in the last few years in space, industrial and medical applications. An important part of Robot Arms is to achieve desired pose (position and orientation), in order to accomplish this very good knowledge of inverse kinematics is needed. Getting a solution to Inverse kinematics of the Robot Arms has been considered as a mature problem which is thoroughly researched and is also on the focus of various research and developments in Robotics field. SSRMS (a redundant manipulator) has total 7 revolute joints. They can be structured as shoulder joints, elbow joints and wrist joints (end effector). This paper presents biologically-inspired Genetic Algorithms (optimization) approach for solving Inverse kinematics problem of SSRMS. In this paperGA solver from MATLAB's (optimization toolbox) is used to find the joint angles of SSRMS robot, solver parameters such as population size, elite count, crossover fraction, etc. are selected to achieve maximum performance resulting in optimum joint variables.