摘要
基于冗余机械臂在求逆解过程中无法获得封闭解的问题,针对性地提出了综合改进麻雀搜索算法(CISSA)。首先,在初始化过程中对算法中的种群进行混沌处理,增加种群的丰富度;其次,将自适应动态权重融入到探索者的位置更新公式以及种群中探索者与追随者的数量中,提高算法快速收敛的能力;同时,在迭代过程中引进柯西变异和Tent混沌扰动,提升算法的抗停滞能力;对于越界的个体处理后重新放入种群中,提升算法性能。CISSA在多项指标上明显优于PSO、WOA和GWO等传统群智能算法;将CISSA应用到冗余机械臂逆运动求解,在算法精度上较SSA提高了2~3个数量级,在算法稳定性上较SSA提高了3~4个数量级,说明了CISSA在实际应用的过程中,有收敛快、精度高、稳定性好的特点。
Since the redundant manipulator cannot obtain the closed solution in the process of inverse solution, this paper presents a comprehensively improved sparrow search algorithm.Firstly, in the initialization process, chaos processing is carried out to increase the richness of the population.Secondly, the adaptive dynamic weight is incorporated into the location updating formula of explorers and the number of explorers and followers in the population to improve the ability of fast convergence of the algorithm.At the same time, cauchy variation and Tent chaos disturbance are introduced in the iterative process to improve the anti-stagnation ability of the algorithm.The out-of-bounds individuals are processed and put back into the population to improve the performance of the algorithm.CISSA is obviously superior to PSO,WOA,GWO and other traditional swarm intelligence algorithms on several indexes.When CISSA is applied to solve the inverse motion of redundant manipulator, the accuracy of the algorithm is improved by 2 or 3 orders of magnitude compared with SSA,and the stability of the algorithm is improved by 3 or 4 orders of magnitude compared with SSA,indicating that CISSA has the characteristics of fast convergence, high precision and good stability in the practical application process.
作者
周文辉
贾振堂
王磊
ZHOU Wen-hui;JIA Zhen-tang;WANG Lei(School of Electronics and Information Engineering,Shanghai University of Electric Power,Shanghai 200120,China)
出处
《组合机床与自动化加工技术》
北大核心
2023年第2期31-36,共6页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(62105196)。
关键词
冗余机械臂
Tent混沌映射
逆运动学
综合改进麻雀搜索算法
自适应调整
redundant manipulator
Tent channel mapping
inverse kinematics
comprehensively improved sparrow search algorithm
adaptive adjustment
