基于改进鸡群算法的焊接机器人运动学逆解  

Welding Robot Inverse Kinematics Solution Based on Improved Chicken Swarm Algorithm

作　　者：陈梅[1] 侯颂原 何慧敏 CHEN Mei;HOU Songyuan;HE Huimin(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学电气与自动化工程学院,合肥230009

出　　处：《机械设计与研究》2022年第2期88-92,104,共6页Machine Design And Research

摘　　要：随着焊接制造工艺要求的日益提高,要求焊接机器人具备更高的位姿精度,因此对焊接机器人逆解的要求更高。为此,提出了改进鸡群算法,该算法适用于各类六轴焊接机器人逆解。通过使用混沌反向学习的策略初始化种群,增强了初始鸡群粒子的均匀性和遍历性;改进了母鸡影响因子,有效的克服了局部收敛和“早熟”现象并提高了算法的求解精度和速度;引入鲸鱼算法中的螺旋更新法则,提高了算法的寻优能力和求解精度。仿真实验表明:改进后的鸡群算法在求解机器人逆解时寻优能力有较大的提升,改善了局部收敛和早熟现象,提高了算法的稳定性。With the increasing requirements of welding manufacturing technology,the welding robot is required to have higher pose accuracy,so the inverse kinematics solution of the welding robot needs to be improved.This paper proposes an improved chicken swarm optimization method that is suitable for solving the inverse kinematics of various six axis welding robots.By using the chaotic opposition-based learning strategy to initialize the population,the uniformity and ergodicity of the initial chicken swarm particles are enhanced.By improving the influence factor of the hen,the local convergence and“premature”phenomenon are effectively overcome,and the accuracy and speed of the algorithm are improved.The spiral update rule of whale optimization algorithm is introduced to improve the optimization ability and accuracy of the algorithm.Simulation results show that the improved chicken swarm algorithm significantly improves the optimization ability in solving the inverse kinematics of the robot,improves the local convergence and premature phenomenon,and improves the stability of the algorithm.

关 键 词：焊接机器人 鸡群算法 逆运动学 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]