基于量子遗传算法的超冗余度机器人逆解优化  

Optimization of the Inverse Solution for Hyper Redundant Robot based on QGA

作　　者：赵爽[1] 李立[1] 白瑞松 

机构地区：[1]西南交通大学机械工程学院,四川成都610031

出　　处：《机械传动》2013年第11期85-88,共4页Journal of Mechanical Transmission

基　　金：四川省应用基础研究项目(2008JY0063)

摘　　要：在采用脊线法求得超冗余度机器人的逆解的基础上,首次给出初始位形参数的取值范围计算公式,并通过调整初始位形参数,使用量子遗传算法对其逆解进行优化,使得关节运动幅度的值最小。给出的一个平面十杆超冗余度机器人机构的算例证明了该方法的有效性。Hyper redundant robot is such robot with degrees of freedom far more than its minimum number of de- grees of freedom needed to complete a task. The inverse solution of the hyper - redundant robot is obtained by using the method of backbone curve and the formula for the range of the initial configuration parameter is given firstly. In- verse solution is optimized by using quantum genetic algorithm and adjusting the initial configuration parameters, so that the distance of joint motion is minimum . The validity of the approach is demonstrated with an example of a planar 10 - bar hyper- redundant robotic mechanism.

关 键 词：优化 超冗余度机构 逆运动学 量子遗传算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]