基于改进蜂群算法的拱架台车机械臂逆解  

Inverse kinematics of arch trolley manipulator based on improved bee colony algorithm

作　　者：陈鹤天 程文明[1,2] 杜润 张志鹏[1,2] Chen Hetian;Cheng Wenming;Du Run;Zhang Zhipeng

机构地区：[1]西南交通大学机械工程学院,成都610031 [2]轨道交通运维技术与装备四川省重点实验室,成都610031

出　　处：《起重运输机械》2024年第12期51-57,共7页Hoisting and Conveying Machinery

基　　金：中车十四五科技重大专项科研课题(2021CHZ010-3);四川省重点研发项目(2022YFG0241)。

摘　　要：拱架台车机械臂为七自由度的冗余机械臂且带有移动关节,其逆运动学求解困难,文中设计了一种基于Levy飞行的混沌蜂群算法(Chaotic Levy Artificial Bee Colony Algorithm,CFABC)。首先利用D-H(Denavit-Hartenberg)法建立机械臂运动学模型,通过正运动学的解建立末端位姿误差目标函数,求取逆运动学的最优解,接着引入混沌映射对蜜源进行初始化,再引入Levy飞行改变搜索策略来提升算法的收敛速度,最后利用Matlab编程进行仿真验证,为拱架台车机械臂逆运动学的求解提供了一种新的途径。结果表明,该算法的收敛速度相较于传统的蜂群算法和混沌蜂群算法求解速度快、稳定性好,证明了算法的可行性。The manipulator of arch trolley is a redundant manipulator with seven degrees of freedom and moving joints,so it is difficult to solve the inverse kinematics.Therefore,a chaotic Levy artificial bee colony algorithm(CFABC)based on Levy flight was developed.Firstly,the D-H(Denavit-Hartenberg)method was used to establish a kinematics model of the manipulator,and the objective function of the terminal pose error was established through the solution of the forward kinematics to obtain the optimal solution of the inverse kinematics.Then,chaos mapping was introduced to initialize the honey source,and Levy flight change search strategy was introduced to improve the convergence speed of the algorithm.Finally,the simulation was verified by Matlab programming.A new way to solve the inverse kinematics of the manipulator of the arch trolley is provided.The results show that compared with the traditional bee colony algorithm and chaotic bee colony algorithm,this algorithm has fast solution speed and good stability,thus proving the feasibility of this algorithm.

关 键 词：逆运动学 混沌蜂群算法 Levy飞行 拱架台车机器臂 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]