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多自由度串联机器人逆运动求解的传统方法是从逆运动方程出发求解析解,在机构存在冗余自由度的情况下会出现求解困难。提出了利用粒子群优化理论直接从正向运动方程出发,求解机器人关节变量的方法。讨论了通过粒子群优化算法的位置-速度搜索模型求解关节变量的方法和步骤。实验对比了求逆运动解析解和本方法结果的差异;验证了在约束条件下搜索关节变量值的效果。实验证实了本算法的有效性。
The traditional method to solve inverse kinematics of multi-degree-of-freedom serial robots is to find the solution from the inverse kinematics equation. When the mechanism has redundant degrees of freedom, the solution will be difficult. The method of solving joint variables of robot by using particle swarm optimization theory is proposed directly from forward equation of motion. The methods and steps for solving joint variables by using the position-velocity search model of particle swarm optimization algorithm are discussed. The difference between the analytic solution of inverse kinematics and the result of the method is contrasted experimentally. The effect of searching the joint variable under constraint condition is verified. Experiments show the effectiveness of this algorithm.