基于一种改进鲸鱼优化算法的机器人逆运动学求解  

Robot inverse kinematics solution based on an improved whale optimization algorithm

作　　者：王婷 吴全君 WANG Ting;WU Quanjun(School of Machinery and Automation(Weichai Industrial College),Weifang University,Weifang 261061,China;State Key Laboratory of Engine and Powertrain System,Weifang 261061,China;Weichai Power Co.,Ltd.,Weifang 261061,China)

机构地区：[1]潍坊学院机械与自动化学院(潍柴产业学院),潍坊261061 [2]内燃机与动力系统全国重点实验室,潍坊261061 [3]潍柴动力股份有限公司,潍坊261061

出　　处：《机械传动》2025年第2期89-92,169,共5页Journal of Mechanical Transmission

基　　金：潍坊学院博士基金项目(44122027)。

摘　　要：【目的】机器人逆运动学求解在轨迹规划与控制中起到至关重要的作用。传统的机器人逆运动学根据运动学方程和数学理论进行求解,计算效率较低,对控制精度也会产生一定的影响。为了克服这些问题,采用一种改进的鲸鱼优化算法进行机器人逆运动学求解。【方法】改进的鲸鱼优化算法是将差分进化算法的变异和选择操作融合到鲸鱼优化算法中提出的,改进后的算法具有较好的全局搜索性能和快速收敛特性。以一款6自由度串联机器人为研究对象,运用改进的鲸鱼优化算法求其逆运动学解。【结果】结果表明,运用改进的鲸鱼优化算法进行机器人逆运动学求解,可以简化求解步骤,同时保证求解精度。[Objective]Robot inverse kinematics solution plays an important role in trajectory planning and control.The traditional inverse kinematics of robot was solved according to the kinematics equation and the mathematical theory,which has low calculation efficiency and has a certain impact on the control accuracy.In order to overcome these problems,an improved whale optimization algorithm was used to solve its inverse kinematics.[Methods]Improved whale optimization algorithm was proposed by integrating the mutation and selection operations of differential evolution algorithm into the whale optimization algorithm.The improved algorithm has good global search performance and fast convergence.Taking a 6R robot as the research object,improved whale optimization algorithm was used to solve its inverse kinematics.[Results]Results show that using improved whale optimization algorithm to obtain the inverse kinematics solution of the robot can simplify the solving steps and ensure the solution accuracy at the same time.

关 键 词：优化算法 机器人 逆运动学 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]