基于改进遗传算法的清洁移动机械臂运动学逆解  

INVERSE KINEMATICS SOLUTION OF CLEANING MOBILE MANIPULATOR BASED ON IMPROVED GENETIC ALGORITHM

作　　者：李翠明[1] 任柯州 龚俊[1] Li Cuiming;Ren Kezhou;Gong Jun(College of Mechanical and Electrical Engineering,Lanzhou University of Technology,Lanzhou 730050,China)

机构地区：[1]兰州理工大学机电工程学院,兰州730050

出　　处：《太阳能学报》2022年第7期180-185,共6页Acta Energiae Solaris Sinica

基　　金：甘肃省自然科学基金(18JR3RA139);甘肃省省级引导科技创新发展项目(2018ZX-13)。

摘　　要：以研制的塔式太阳能热发电站定日镜表面清洁作业的车载清洁移动机械臂为研究对象,建立运动学模型并分析其逆解集。采用遗传算法求解车载清洁移动机械臂逆解,在解决多解问题时,利用“多移动小关节,少移动大关节”的原则进行约束,并求出最优解,对机械臂的轨迹规划提供基础。实验证明该文采用的算法能得到可行的最优解,并使得关节1的移动最小,提高清洁机械臂的控制度,满足实际清洁要求。The research object is the vehicle-mounted cleaning mobile robot arm for cleaning the surface of the heliostat in the tower solar thermal power station,establish a kinematic model and analyze its inverse solution set.The genetic algorithm is used to solve the inverse solution of the on-board cleaning mobile manipulator,when solving multi-solution problems,use the principle of "moving more small joints and less large joints" to constrain,and find the optimal solution,it provides a basis for the trajectory planning of the robotic arm.Experiments show that the algorithm used in this article can obtain a feasible optimal solution,and minimize the movement of the first joint,can improve the control of the cleaning robot arm,and meet the actual cleaning requirements.

关 键 词：塔式太阳能热发电 机械臂 静力学分析 逆运动学 遗传算法 清洁作业 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]