自适应麻雀搜索法求解核运维机器人逆运动学解  

Adaptive Sparrow Search Algorithm Solving Inverse Kinematics Problem of Nuclear Operation and Maintenance Robot

作　　者：张钦 陈光明[2] ZHANG Qin;CHEN Guangming(Huai'an Bioengineering Collage,Jiangsu Union Technical Institute,Huai'an 223001,China;Engineering College,Nanjing Agricultural University,Nanjing 210037,China)

机构地区：[1]江苏联合职业技术学院淮安生物工程分院,淮安223001 [2]南京农业大学工学院,南京210037

出　　处：《核电子学与探测技术》2024年第1期61-68,共8页Nuclear Electronics & Detection Technology

基　　金：江苏省重点研发项目(BE2021016-5)。

摘　　要：探讨了核运维机器人在核设施内工作时,基于自适应麻雀搜索算法(ASSA)的核运维机器人逆运动学求解方法。ASSA在麻雀搜索算法(SSA)的基础上,将自适应步长策略引入SSA中警戒者的位置更新方式中,实现了算法寻优性能的提升。通过3个基准函数对ASSA的性能进行了测试,获得了比SSA更高的求解精度、更快的求解速度和更强的计算稳定性。实测结果表明:ASSA得到的核运维机器人位姿误差更小,计算耗时更少,求解稳定性更好。This paper discusses the inverse kinematics solution method of the nuclear operation and maintenance robot based on the adaptive sparrow search algorithm(ASSA)when the nuclear operation and maintenance robot working in the nuclear facility.Based on the sparrow search algorithm(SSA),ASSA introduces the adaptive step size strategy into the location update mode of the alert in SSA to improve the optimization performance of the algorithm.The performance of ASSA is tested by three reference functions,and the solution accuracy,speed and stability of ASSA were higher than that of SSA.The measured results show that the pose error of the nuclear operation and maintenance robot obtained by ASSA is smaller,the calculation time is less,and the solution stability is better.

关 键 词：麻雀搜索算法 自适应步长 核运维机器人 逆运动学解 

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]