基于改进粒子群优化算法的冗余机械臂逆运动学求解  

Inverse Kinematics Solution of Redundant Manipulator based on Improved Particle Swarm Optimization Algorithm

作　　者：石建平 刘鹏 陈冬云 Shi Jianping;Liu Peng;Chen Dongyun(School of Electronic&Communication Engineering,Guiyang University,Guiyang 550005,China;School of Gems and Materials Technology,Hebei GEO University,Shijiazhuang 050031,China)

机构地区：[1]贵阳学院电子与通信工程学院,贵州贵阳550005 [2]河北地质大学宝石与材料工艺学院,河北石家庄050031

出　　处：《机械传动》2021年第2期69-75,共7页Journal of Mechanical Transmission

基　　金：贵阳市科技局-贵阳学院科研专项资金(GYU-KYZ(2019∼2020)DT-13)。

摘　　要：以末端执行器的位姿误差最小为优化目标,将机器人的逆运动学问题转换为一个等效的最优化问题,并利用提出的改进粒子群优化算法对该问题进行求解。该算法从粒子群的初始化、惯性权重调整策略、差分变异进化及搜索空间的越界处理等多方面对标准粒子群优化算法进行综合改进,同时构建了以粒子群进化和差分变异进化为基础的两阶段混合协同进化机制,达到了有效平衡算法全局探索能力与局部开发能力的目的,提高了算法的收敛精度和收敛速度。以平面冗余机械臂和7自由度冗余机械臂的运动学逆解运算为例,将提出算法与对比算法用于逆运动学问题的求解。仿真结果表明,与对比算法比较,该算法具有更高的收敛精度、更快的收敛速度以及更强的寻优稳定性,能有效解决冗余机械臂的逆向运动学问题。Taking the minimizing pose error of the end-effector as the objective function,the inverse kinematics problem of redundant manipulator is transformed into an equivalent optimization problem.An improved particle swarm optimization algorithm is proposed to solve this optimization problem.The algorithm is comprehensively improved from the aspects of particle population initialization,inertia weight adjustment strategy,differential mutation operation as well as the boundary violation treatment of searching space.At the same time,a two-stage hybrid coevolution mechanism based on particle swarm evolution and differential mutation evolution is constructed.As a result,the global exploration and the local exploitation of the algorithm are reasonably and effectively balanced,the convergence precision and speed of the algorithm are improved.Taking the inverse kinematics solutions of a planar redundant manipulator and a 7-DOF redundant manipulator as examples,the proposed algorithm and the comparison algorithms are used to solve the inverse kinematics problem.The simulation results show that compared with the comparison algorithm,the proposed algorithm has higher convergence accuracy,faster convergence speed and stronger optimization stability.The proposed algorithm can effectively solve the inverse kinematics problem of redundant manipulator.

关 键 词：冗余机械臂 逆运动学 粒子群优化算法 混沌 变异 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP241[自动化与计算机技术—控制科学与工程]