基于人工蜂群算法的冗余机械臂逆运动学求解  

Inverse Kinematics Solution of Redundant Manipulator Based on Artificial Bee Colony Algorithm

作　　者：王寒松 杨自栋[1] 赵大旭[1] 姚自立 韩润哲 WANG Hansong;YANG Zidong;ZHAO Daxu;YAO Zili;Han Runzhe(College of Optical and Mechanical Engineering,Zhejiang A&F University,Hangzhou 311302,China)

机构地区：[1]浙江农林大学光机电工程学院,浙江杭州311302

出　　处：《机械制造与自动化》2024年第6期218-223,共6页Machine Building & Automation

基　　金：浙江省尖兵领雁计划项目(2022C02042)。

摘　　要：利用D-H法对冗余机械臂建立运动学模型,通过坐标系的转换得出正运动学的解;探讨人工蜂群算法对7DOF机械臂运动学求解的有效性,使用人工蜂群算法对冗余机械臂进行逆运动学求解,构造以位置误差以及求解时间为目标函数来寻求最优解;以最小位置误差和求解时间为目标,让机械臂运行到指定位置并将计算结果与粒子群算法进行比较。Matlab仿真实验表明:人工蜂群算法所计算的位置误差稳定在10-4 mm,其搜索精度、收敛精度以及收敛速度均优于粒子群算法,计算最优解所使用的时间也优于粒子群算法,所表现的稳定性以及鲁棒性更适用于冗余机械臂的逆运动学求解。A kinematics model is established by D-H method,and the forward kinematics solution is obtained through the transformation of coordinate system.The validity of artificial bee colony algorithm for kinematics solution of 7DOF manipulator is discussed.The inverse kinematics of the redundant manipulator is solved by using the artificial bee colony algorithm,and the optimal solution is found by constructing the objective function of position error and solution time.The minimum position error and solution time are taken as the objectives to make the manipulator run to the specified position and compare the calculation results with the particle swarm algorithm.The Matlab simulation experiment shows that the position error calculated by the artificial bee colony algorithm is stable at 10-4 mm,and the search accuracy,convergence accuracy and speed of the artificial bee colony algorithm are better than particle swarm algorithm,and the stability and robustness of the algorithm are more suitable for the inverse kinematics solution of redundant manipulator.

关 键 词：逆运动学求解 人工蜂群算法 粒子群算法 收敛精度 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置] TP18[自动化与计算机技术—控制科学与工程]