基于PSO算法和BAS算法的机器人运动学逆解  

Inverse kinematics solution of manipulator based on PSO algorithm and BAS algorithm

作　　者：乔志鹏 白峭峰[1] 赵春江[1] 李启航 郭鑫 刘映良 QIAO Zhipeng;BAI Qiaofeng;ZHAO Chunjiang;LI Qihang;GUO Xin;LIU Yingliang(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China;Shanxi Shuozhou Jinhua Industrial Co.,Ltd.,Shuozhou 036000,China)

机构地区：[1]太原科技大学机械工程学院,山西太原030024 [2]山西省朔州金华实业有限公司,山西朔州036000

出　　处：《武汉大学学报（工学版）》2024年第7期971-978,共8页Engineering Journal of Wuhan University

基　　金：国家重点研发计划项目(编号:2018YFB1308701);山西省重点研发计划项目(编号:201903D121051)。

摘　　要：针对激光熔覆工业场景中对激光离焦量的高精度要求,提出了一种基于粒子群优化算法和天牛须搜索算法的智能组合算法,以最小化目标位姿误差为目标,设计组合算法的适应度公式。在组合算法中,引入机器人数学模型,通过粒子群优化算法求解符合精度要求的初步解,即机器人6个轴角的初值;再利用天牛须搜索算法,基于分块搜索的思路,将适应度分解为位置误差和姿态误差进行探索;同时做出动态惯性调整、自适应步长2个方面的改进策略,取组合适应度值最小的1组解输出,并作为机器人逆解的最优解。通过和单独的粒子群优化算法、天牛须搜索算法以及改进的差分进化算法的对比试验,表明组合算法在机器人运动学逆解方面具有收敛速度快和收敛精度较高的优势。Aiming at the high precision requirements of laser defocus in laser cladding industrial scenes,an intelligent combinatorial algorithm based on PSO(particle swarm optimization)and BAS(beetle antennae search)is proposed.The fitness formula of the combination algorithm is designed to minimize the target pose error.In the combinatorial algorithm,the mathematical model of the robotic arm is introduced,and the PSO algorithm is used to solve the preliminary solutions that meet the accuracy requirements,that is,the initial values of the six axis angles of the robotic arm.Then,using BAS algorithm,the fitness is decomposed into the position error and posture error to be explored based on the division search idea.At the same time,the improvement strategies of dynamic inertia adjustment and adaptive step length are made,and the set of solutions with the smallest combined fitness value is output and used as the optimal inverse solution of the manipulator.Compared with the separate PSO algorithm,BAS algorithm and improved differential evolution algorithm,the PSO-BAS combined algorithm has the advantages of fast convergence speed and high convergence accuracy in the kinematics inverse solution of the manipulator.

关 键 词：激光熔覆 运动学逆解 组合算法 最优解 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]