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遗传算法应用于机械手运动学逆问题求解，对选择、突然变异等操作进行分析并给出相应的算法．提出了转换编码及多点交叉操作中交叉点偏置的方法，并对交叉率和变异率的影响规律进行了分析和探讨．通过ＳＩＷＲ－Ⅱ型水下机械手的实例计算，验证了所提出的方法的有效性和可行性．
The genetic algorithm is applied to the inverse problem of the kinematics of manipulators. The selection, sudden mutation and other operations are analyzed and the corresponding algorithms are given. The method of cross-point offset in transcoding and multi-point crossover operation is proposed, and the influence rules of the crossover rate and mutation rate are analyzed and discussed. Through the example calculation of SIWR-Ⅱ underwater manipulator, the validity and feasibility of the proposed method are verified.