计算机工程2011，Vol.37Issue(16)：11-13,3.DOI:10.3969/j.issn.1000-3428.2011.16.004
基于蚁群算法的并联机器人误差补偿方法
Error Compensation Method of Parallel Robot Based on Ant Colony Algorithm
摘要
Abstract
The model of the pose error of Stewart parallel robot is established based on closed-loop vector method. The parallel robot pose error arises from the length error of six drive rods and the hinge error of connection with the upper and lower platform. In this paper, the continuous ant colony algorithm on the basis of mesh strategy for is proposed based on the model of the pose error, the pose error of Stewart parallel robot compensation is obtained by updating the pheromone and guiding the ants search repeatedly and optimizing the error of drive rods. The result of numerical simulation indicates that ant colony algorithm is able to realize the compensation of the pose error of Stewart parallel robot effectively.关键词
Stewart并联机器人/位姿误差/误差补偿/蚁群算法/信息素Key words
Stewart parallel robot/pose error/error compensation/ant colony algorithm/pheromone分类
信息技术与安全科学引用本文复制引用
谢平,刘志杰,杜义浩..基于蚁群算法的并联机器人误差补偿方法[J].计算机工程,2011,37(16):11-13,3.基金项目
国家自然科学基金资助项目(60704037) （60704037）
