基于人工进化蜂鸟算法的机械臂逆运动学求解  

Inverse Kinematics Solution for Manipulators Based on the Artificial Evolved Hummingbird Algorithm

作　　者：王军茹[1] 秦鹏飞 孙广彬 Wang Junru;Qin Pengfei;Sun Guangbin(School of Automation,Beijing Information Science&Technology University,Beijing 100192,China;Beijing Metin Technology Co.,Ltd.,Beijing 102200,China)

机构地区：[1]北京信息科技大学自动化学院,北京100192 [2]壹佰米机器人技术(北京)有限公司,北京102200

出　　处：《机械传动》2024年第12期59-66,共8页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(61573230)。

摘　　要：针对现阶段多自由度机械臂逆运动学求解方法大多存在着求解精度不高、通用性差的问题,提出一种人工进化蜂鸟算法(Artificial Evolved Hummingbird Algorithm,AEHA),用于机械臂逆运动学求解。首先,以6自由度机械臂为研究对象,建立其逆运动学的非线性方程组;以机械臂末端位姿误差为优化目标,结合能量损耗构建适应度函数,将逆运动学问题转化为目标函数优化问题,并采用所提算法求解该问题。人工蜂鸟进化算法通过引入Sobol序列与Levy飞行策略,提高了算法摆脱局部最优的能力;引入差分进化策略,可实现个体之间交叉进化,避免过早收敛。然后,通过基准函数测试,验证所提算法具有良好的收敛精度。最后,对6轴机械臂进行逆运动学求解仿真。结果表明,人工进化蜂鸟算法在求解精度、稳定性等方面优于对比算法,求解精度达到10^(-9)mm,可以应用于多自由度机械臂逆运动学求解。Aiming at the current stage of inverse kinematics solving methods for multi-degree-of-freedom manipulators,most of which have the problems of low solving accuracy and poor generalization,an artificial evolved hummingbird algorithm(AEHA)was proposed for inverse kinematics solving of manipulators.Taking the six-degree-of-freedom manipulator as the research object,a nonlinear equation system of its inverse kinematics was established;taking the position error of the end of the manipulator as the optimization objective,the fitness function was constructed by combining with the energy loss,so as to transform the inverse kinematics problem into the optimization problem of the objective function,and the proposed algorithm was used to solve the problem.The artificial hummingbird evolutionary algorithm improved the ability of the algorithm to get rid of the local optimum by introducing the Sobol sequence and the Levy flight strategy;the differential evolution strategy was introduced to realize the cross-evolution between individuals to avoid the premature convergence.Then,the proposed algorithm was verified that it had the good convergence accuracy by benchmark function test experiments.Finally,the inverse kinematics solving simulation was carried out on a six-axis manipulator.The results show that the artificial evolution hummingbird algorithm is better than the comparison algorithm in terms of solving accuracy and stability,and the solving accuracy can reach 10-9 mm,which can be applied to the inverse kinematics solving of multi-degree-of-freedom manipulators.

关 键 词：机械臂 人工蜂鸟进化算法 Sobol序列 Levy飞行策略 差分进化策略 

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]