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In this paper a singularity robust trajectory gener ator for robotic manipulators is presented. The generator contains the procedure of sol ving the inverse kinematics problem. This issue is defined as an optimization probl em, where a genetic algorithm is used for optimizing the fitness function. In order to avoid singularity problem, the generator is based on the direct kinematics problem . The trajectory generator allows to obtain generalized coordinates, velocities and a ccelerations. Simulation results show that the procedure generates a trajectory of m anipulator even in kinematics singularities.

SINGULARITY ROBUST TRAJECTORY GENERATOR FOR ROBOTIC MANIPULATOR BASED ON GENETIC ALGORITHM WITH DYNAMIC ENCODING OF SOLUTIONS