基于改进天牛须搜索的机械臂运动学逆解  

Kinematic inverse solution of mechanical arm based on improved beetle antennae search

作　　者：冯晨旭 胡三宝[1,2] FENG Chenxu;HU Sanbao(Hubei Provincial Key Laboratory of Advanced Technology of Automotive Components,Wuhan University of Technology,Wuhan 430070,China;Hubei Provincial Collaborative Center for Automotive Component Technology,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070

出　　处：《武汉大学学报（工学版）》2020年第12期1121-1128,共8页Engineering Journal of Wuhan University

基　　金：国家自然科学基金项目(编号:252014E050601)。

摘　　要：探讨了一种用改进的天牛须搜索求四自由度机械臂逆解的分析方法。基于standard D-H方法搭建局部坐标系建立机械臂正运动学方程,在此基础上将正运动学方程转化为目标函数进行优化,应用改进的天牛须算法求出多个最佳分配方案,并利用改进的聚类方法对分配方案进行整理,将得到的聚类中心作为方程组的近似解。通过MATLAB软件中的Robotics Toolbox工具箱来实现对机械臂轨迹的仿真,验证了逆解的正确性。结果表明:天牛须算法可以在很短的时间内,以较高的精度得到正运动方程的所有解。低维度多目标优化中,天牛须算法在收敛速度上优势明显。The paper discusses a method for the inverse solution of a four-degree-of-freedom manipulator using the improved beetle antennae search.Firstly,the forward kinematics equation is established by the standard DH method.Then,the forward kinematics equation is transformed into the objective function for optimization,and the improved beetle antennae search is used to obtain multiple optimal allocation schemes.Finally,the improved clustering method is used to sort the allocation schemes,and the obtained cluster center is taken as the approximate solution of the equations.The Robotics Toolbox in MATLAB software is used to simulate the manipulator trajectory and to verify the correctness of the inverse solution.The results show that the beetle antennae search can obtain all solutions of the positive motion equation with high precision in a short time.In low-dimensional multi-objective optimization,the beetle antennae search has obvious advantages in convergence speed.

关 键 词：四自由度 天牛须算法 聚类算法 逆解 轨迹仿真 

分 类 号：TU460[建筑科学—结构工程]