基于改进克隆选择算法的机械臂运动学逆解  

Inverse kinematics of manipulator based on improved clonal selection algorithm

作　　者：石建平 李培生[2] 刘国平[2] 刘鹏 SHI Jianping;LI Peisheng;LIU Guoping;LIU Peng(School of Electronic & Communication Engineering, Guiyang University, Guiyang 550005, China;School of Mechanical & Electrical Engineering, Nanchang University, Nanchang 330031, 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]南昌大学机电工程学院,江西南昌330031 [3]河北地质大学宝石与材料工艺学院,河北石家庄050031

出　　处：《计算机集成制造系统》2021年第10期2929-2939,共11页Computer Integrated Manufacturing Systems

基　　金：国家自然科学基金资助项目(51566012);贵阳市科技局—贵阳学院科研专项资金资助项目(GYU-KYZ(2019~2020)DT-13)。

摘　　要：针对常规方法无法有效求解冗余机械臂逆运动学问题的不足,提出一种基于改进克隆选择算法的机械臂运动学逆解求解方法。该算法采用底层进化与顶层进化相结合的多策略混合协同进化机制,使得算法具有较强的种群多样性保持能力,从而有效避免了算法早熟收敛现象的发生。采用经典的基准测试函数验证了所提算法的可行性与有效性,实验结果表明该算法具有收敛速度快、收敛精度高、稳定性好以及计算成本低等优势。以平面冗余机械臂运动学逆解的求解为例进行对比实验,仿真结果表明:所提出的改进算法获得了100%的运动学逆解寻优成功率,是一种有效的冗余机械臂逆运动学求解方法。Aiming at the shortcoming of conventional methods on solving the inverse kinematics problem of redundant manipulators,an inverse kinematics solution of redundant manipulators based on improved clonal selection algorithm was obtained.A multi-strategy hybrid co-evolutionary mechanism combining bottom-level evolution and top-level evolution was adopted,which could make the algorithm had a strong ability to maintain population diversity.Therefore,the premature convergence problem of the algorithm was well avoided.The feasibility and effectiveness of the proposed algorithm were verified by classical benchmark functions.Experimental results showed that the proposed algorithm had the characteristic of fast convergence speed,high convergence precision,good stability and low computational cost.The inverse kinematic of a planar redundant manipulator was taken as an example to carry out comparative experiments,the simulation results indicated that the proposed algorithm had achieved a 100%success rate of inverse kinematics optimization,and it was an effective method for solving the inverse kinematics of redundant manipulators.

关 键 词：机械臂 逆运动学 克隆选择算法 协同进化 多策略 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]