面向冗余机械臂逆运动学问题的人工蜂群算法改进  

Improvement of Artificial Bee Colony Algorithm for Inverse Kinematics of Redundant Manipulators

作　　者：石建平 徐永驰 古训 陈冬云 SHI Jianping;XU Yongchi;GU Xun;CHEN Dongyun(School of Electronic&Communication Engineering,Guiyang University,Guiyang 550005)

机构地区：[1]贵阳学院电子与通信工程学院,贵阳550005

出　　处：《机械工程学报》2024年第15期60-70,共11页Journal of Mechanical Engineering

基　　金：贵州省科技计划(黔科合基础-ZK[2022]一般014,黔科合基础-ZK[2023]一般011);贵州省普通高等学校青年科技人才成长(黔教合KY字[2021]005号)资助项目。

摘　　要：逆运动学问题是机器人学中最重要和最复杂的问题之一,以末端执行器的位姿误差最小化为优化目标,该问题可以转换成一个等效的最小优化问题,并利用智能优化算法进行优化求解。为有效解决冗余机械臂的逆运动学问题,提出一种改进的人工蜂群算法。改进算法在引领蜂阶段、跟随蜂阶段和侦察蜂阶段分别提出不同的蜜源搜索方程,从而在进化过程中形成多策略混合协同进化效应,较好平衡了算法的全局探索与局部开发,同时有效克服了基本人工蜂群算法在引领蜂和跟随蜂阶段采用相同的单维搜索方程所带来的后期收敛速度慢、计算精度不高等缺点。以7自由度冗余机械臂的逆运动学求解为例进行对比实验,结果表明:与对比算法比较,该算法具有更高的收敛精度、更快的收敛速度以及更强的寻优稳定性,可用于有效解决冗余机械臂的逆运动学问题。The inverse kinematics of redundant manipulators is one of the most important and complicated problems in robotics,taking the minimum pose error of the end-effector as the optimization objective,it can be transformed into an equivalent optimization problem,which can be solved by intelligent optimization algorithms.To effectively solve the inverse kinematics problem of redundant manipulators,an improved artificial bee colony algorithm is proposed.In improved algorithm,search equations for the employed bee phase,the onlooker bee phase and the scout bee phase are proposed respectively,so as to form a multi-strategy hybrid co-evolution effect in the evolution process,which make the proposed algorithm more capable of balancing global exploration and local exploitation.Thus,the shortcomings of the basic artificial bee colony algorithm,such as slow convergence rate and low computational accuracy caused by using the same one-dimensional search equation in the employed bee phase and the onlooker bee phase,can be effectively overcome.The inverse kinematic of a 7-DOF redundant manipulator is taken as an example to carry out comparative experiments,the experimental results indicate that compared with the comparison algorithms,the improved algorithm has higher convergence accuracy,faster convergence speed and stronger optimization stability,and it can be used to solved the inverse kinematics problem of redundant manipulators effectively.

关 键 词：冗余机械臂 逆运动学 人工蜂群算法 多策略 协同进化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]