冗余机器人喷涂系统改进人工鱼群逆运动学求解算法  

IAFSA for Solving Inverse Kinematics of Redundant Robotic Spraying System

作　　者：刘雪梅[1] 冯焱 杨振 李爱平[1] 卢军国 LIU Xuemei;FENG Yan;YANG Zhen;LI Aiping;LU Junguo(School of Mechanical Engineering,Tongji University,Shanghai,201804;Shanghai Waigaoqiao Shipbuilding Co., Ltd.,Shanghai,200137)

机构地区：[1]同济大学机械与能源工程学院,上海201804 [2]上海外高桥造船有限公司,上海200137

出　　处：《中国机械工程》2022年第11期1317-1323,共7页China Mechanical Engineering

基　　金：工信部高技术船舶科研项目(MC-201906 Z01)。

摘　　要：针对一种带有冗余自由度的船舶分段机器人喷涂系统逆运动学问题,使用改进Denavit-Hartenberg(DH)参数法建立了机器人系统的运动学模型。以位姿误差最小及关节行程最短为目标,构建了冗余机器人逆运动学问题优化模型,提出一种改进人工鱼群算法(IAFSA)对模型进行求解。IAFSA引入基于正态分布的视野范围及移动步长动态调整策略来改善解的精度并缩短计算时间,提高算法综合性能。与人工鱼群算法和混合改进人工鱼群算法进行了对比实验,实验结果表明IAFSA搜索能力强、收敛速度快、计算时间较短,逆解良好的精度和误差稳定性在SolidWorks Motion仿真中得到验证,体现了IAFSA算法在冗余机器人逆运动学求解问题中的有效性。In order to solve the inverse kinematics problems of a redundant robotic spraying system for ship segments,the modified DH method was used to establish the kinematics model of the robotic systems.An optimization model for inverse kinematics of redundant robots was established to minimize position errors,posture errors and joint travels,and an IAFSA was proposed to solve the model.The dynamic adjustment strategy of visual ranges and step size based on normal distribution was introduced to enhance the precision of the solutions and reduce the computation time,improving the overall performance of the algorithm.Compared with artificial fish swarm algorithm and hybrid IAFSA,the experimental results show that IAFSA possesses stronger search ability,faster convergence speed and relatively less computation time.The high accuracy of the solutions and good stability of the errors were verified in the SolidWorks Motion simulations,which demonstrates the effectiveness of IAFSA in solving the inverse kinematics problems of redundant robots.

关 键 词：改进人工鱼群算法 冗余机器人 逆运动学 正态分布衰减 船舶喷涂 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]