基于遗传算法的机器人运动学逆解  

GENETIC ALGORITHM FOR SOLVING THE INVERSE KINEMATICS PROBLEM OF ROBOT

作　　者：刘永超[1] 黄玉美[1] 王效岳[1] 张学良[1] 高峰[1] 

机构地区：[1]西安理工大学机仪学院自动化研究所

出　　处：《机器人》1998年第6期421-426,共6页Robot

摘　　要：在分析以往逆解方法的基础上，提出了用遗传算法求解机器人运动学逆解的方法，给出了用于优化求解的适合度函数，并提出用二次编码法提高解的精度．计算机模拟证明：该方法能快速收敛于全局最优解，能给出机器人的可能解，并能计算冗余度机器人的逆解．A new method using genetic algorithm for computing numerical solutions of the inverse kinematics problem for robot is developed in this paper. The proposed method is based on the analysis of previous method.The fitness function for solving the problem is defined. Recording method is provided in order to improve the solution accuracy. Computer simulation shows that the algorithm can be quickly convergent at global optimum, can give out certain solutions for inverse kinematics problem of robot, and can solve the inverse kinematics problem of redundant robot.

关 键 词：遗传算法 运动学逆解 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]