Application of Improved BQGA in Robot Kinematics Inverse Solution

Table 1

Connecting rod parameters of PUMA560.

	(rad)	(m)	(m)	(rad)	Joint angle range(rad)
1	0	0	0	ω1	-8/9 ~8/9
2	-	0	d2	ω2	-5/4 ~π/4
3	0	a2	0	ω3	-/4 ~5/4
4	-	a3	d4	ω4	-11/18 ~17/18
5		0	0	ω5	-5/9 ~5/9
6	-	0	0	ω6	-133/90 ~133/90

where , , ,.