摘要
在保证机械臂运动学逆解位姿精度的前提下,为了减小机械臂关节角整体的运动量,提出了基于带修复策略自适应差分进化算法的逆运动学求解方法。以7自由度冗余机械臂为研究对象进行了问题剖析。以末端执行器位姿精度为约束,以关节角整体运动量最小为目标,建立了带约束的优化模型。在差分进化算法中引入了多种变异策略,并给出了多变异策略的自适应选择方法,提高了算法的优化能力。针对约束条件,设置了带伸缩因子的修复策略,使解在非可行域时能够伸缩到可行域内。经验证,带修复策略自适应差分进化算法求取的运动学逆解能够满足位姿精度约束,且减小了逆解的关节角整体运动量,验证了本文算法在机械臂逆运动学求解中的优越性。
On the premise of ensuring the position and pose accuracy of the inverse kinematics solution of the manipulator,in order to reduce the overall motion of the joint angle of the manipulator,an inverse kinematics solution method based on adaptive differential evolution algorithm with repair strategy is proposed.This paper analyzes the problem of 7-DOF redundant manipulator.Taking the pose accuracy of the end effector as the constraint and the overall motion of the joint angle as the objective,an optimization model with constraints is established.In the differential evolution algorithm,a variety of mutation strategies are introduced,and the adaptive selection method of multi mutation strategy is given,which improves the optimization ability of the algorithm.According to the constraints,a repair strategy with scaling factor is set to make the solution scalable to the feasible region when it is in the infeasible region.It is verified that the inverse kinematics solution obtained by the adaptive differential evolution algorithm with repair strategy can meet the pose accuracy constraints,and the overall joint angle motion of the inverse solution is decreased,which verifies superiority of inverse kinematics solution method in this paper.
作者
李志敏
LI Zhi-min(College of Electromechanical and Information Engineering,Wuxi Vocational Institute of Arts&Technology,Wuxi 214200,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第5期51-54,58,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
全国高等院校教育教学研究项目(2020-AFCEC-339)。
关键词
运动学逆解
自适应差分进化算法
多变异策略
自适应
修复策略
inverse kinematics problem solution
adaptive differential evolution algorithm
multi-mutation strategy
adaptive
repair strategy
