基于粒子群算法的冗余机械手可操作性寻优  

Research of manipulability optimization of redundant manipulator based on PSO

作　　者：汪秀[1] 郭西进[1] 张彤晓[1] 

机构地区：[1]中国矿业大学信息与电气工程学院,江苏徐州221116

出　　处：《计算机应用研究》2011年第2期448-450,共3页Application Research of Computers

摘　　要：针对目标位置对应的冗余机械手形状不确定的情况,在可操作性基础之上,以整体可操作性指标SM为第二指标来确定冗余机械手的形状,并提出了寻优SM的方法。结合粒子群算法,取以相关的关节点为圆心、关节长度为半径的圆周上的点坐标为算法粒子进行迭代。仿真结果验证了所提出方法的有效性和SM作为第二指标的优越性。Contrary to the uncertain configuration of redundant manipulator corresponding to the target position,this paper presented whole manipulability index SM as the second index to determine the configuration of redundant manipulator on mani-pulability and then gave a way of optimizing SM.Combine with PSO,selected points on the circumstance,whose center was the related joint coordinate and the radius was the length of the link,as the particles of algorithm to iterate.The results of simulation confirm the effectiveness of the proposed method and the superiority of SM as the second index.

关 键 词：冗余机械手 可操作性 整体可操作性指标SM PSO 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]