基于解析法和遗传算法的机械手运动学逆解  

Algorithm Based on Analytical Method and Genetic Algorithm for Inverse Kinematics of Redundant Manipulator

作　　者：董云[1] 杨涛[1] 李文[1] 

机构地区：[1]西南科技大学信息工程学院,四川绵阳621010

出　　处：《计算机仿真》2012年第3期239-243,共5页Computer Simulation

基　　金：国家核能开发科研项目:20111108-01;四川省科技计划项目(2010GZ0199)

摘　　要：研究优化机械手轨迹规划问题,机械手运动时要具有稳定性避障性能。针对平面3自由度冗余机械手优化控制问题,建立机械手的结构模型。提出用解析法和遗传算法相结合满足具有计算量小和适应性强的特点。在给定机械手末端执行器的运动轨迹,按着机械手冗余自由度,运动轨迹上每个点对应的关节角有无穷多个解。而通过算法可以找到一组最优的关节角,可得到优化机械手运动过程中柔顺性和避障点。仿真结果表明,该算法可以快速收敛到全局最优解,可用于计算冗余机械手运动学逆解,并可实现机器人的轨迹规划和避障优化控制。This paper presented an algorithm for solving the inverse kinematics of planar 3-DOF redundant manipulators by combining analytical method with genetic algorithm.The proposed algorithm was characterized by reduced computation and improved adaptability.Given the manipulator end-effector path,each point on the path corresponds to infinite combinations of joint angles because the manipulator has the redundant degree of freedom.This algorithm can find a set of optimal joint angles for the process of the manipulator motion to meet flexibility and obstacle avoidance,and thus can be used to calculate inverse kinematics of redundant manipulator and to achieve path planning and obstacle avoidance.The simulation result shows that the proposed algorithm converges quickly to the global optimal solution.

关 键 词：冗余机械手 逆运动学 解析法 遗传算法 轨迹规划 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]