Application of Improved BQGA in Robot Kinematics Inverse Solution

<table class="fixed-width table-group" id="tab3"><tr><td><table class="table"><colgroup><col style="width:13.46em"/><col style="width:3.86em"/><col style="width:3.96em"/><col style="width:3.95em"/><col style="width:3.93em"/><col style="width:3.84em"/><col style="width:3.84em"/></colgroup><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr class="thead"><td class="align_left">Number of iterations</td><td class="align_center">50</td><td class="align_center">100</td><td class="align_center">200</td><td class="align_center">400</td><td class="align_center">800</td><td class="align_center">1000</td></tr><tr><td class="thead-hr" colspan="7"><hr/></td></tr><tr><td class="align_left">The F value of BQGA</td><td class="align_center">0.0716</td><td class="align_center">0.0643</td><td class="align_center">0.0479</td><td class="align_center">0.0373</td><td class="align_center">0.0373</td><td class="align_center">0.0373</td></tr><tr><td class="align_left">The F value of improve BQGA</td><td class="align_center">0.0273</td><td class="align_center">0.0210</td><td class="align_center">0.0148</td><td class="align_center">0.0085</td><td class="align_center">0.0081</td><td class="align_center">0.0071</td></tr><tr class="table-tr"><td colspan="7"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Comparison of convergence between basic BQGA and improved BQGA.</div>

Journal of Robotics

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Table 3

Table 3: Application of Improved BQGA in Robot Kinematics Inverse Solution 