计算机工程与应用Issue(22)：266-270,5.DOI:10.3778/j.issn.1002-8331.1202-0308
一种新的六自由度机械臂运动学反解方法研究
Research on way of inverse kinematic solution of six DOF manipula-tor
王俊龙 1张国良 1敬斌 1徐君1
作者信息
- 1. 第二炮兵工程大学 301教研室，西安 710025
- 折叠
摘要
Abstract
Using parse method to solve the problem of inverse kinematic solution only suits the manipulators with specifically structure. Aiming at the limitation, this paper proposes the GA(Genetic Algorithms)with optimization on energy consuming to get the solution. In order to the convenience on calculation, proposes the four-link simplified module based on the kinematic ana-lytic of manipulator. Under the limitation of the upper limit and the lower limit, use the real number to code the comparative chromosome. Use the change of potential energy and the distance between the end of manipulator and the expected position to calculate the adaptation. Use the way of probability to realize the selection, crossover and mutation. The results show that the proposed method is valid on inverse kinematic solution of manipulator.关键词
遗传算法/能量优化/机械臂/运动学反解Key words
Genetic Algorithm/optimization on energy/manipulator/inverse kinematic solution分类
信息技术与安全科学引用本文复制引用
王俊龙,张国良,敬斌,徐君..一种新的六自由度机械臂运动学反解方法研究[J].计算机工程与应用,2013,(22):266-270,5.
