农机化研究Issue(3)：37-41,46,6.
一种基于微分进化的采摘机器人运动反解方法
A Picking Robot Kinematic Inverse Solution Method Based on Differential Evolution
摘要
Abstract
According to the cumbersome and adaptive deficiencies of the picking robot kinematic inverse solution process , a picking robot kinematic inverse solution seeking method was presented based on the differential evolution algorithm . This method first utilizes picking robot motion positive equation to construct the objective function for solving picking robot motion inverse solution , and then uses the generalization and self-adaptive of the differential evolution algorithm to opti-mize the objective function , thus the picking robot kinematic inverse solution was solved .And in order to analyze the per-formance of this methodology , the traditional picking robot kinematic inverse solution and the picking robot kinematic in-verse solution based on the differential evolution algorithm were also respectively tested , which verified the effectiveness and robustness of the method in this paper .关键词
微分进化/采摘机器人运动正解/采摘机器人运动反解/目标函数Key words
differential evolution/picking robot motion positive solutions/picking robot kinematic inverse solution/ob-jective function分类
农业科技引用本文复制引用
陈科尹,邹湘军,彭红星,覃德泽..一种基于微分进化的采摘机器人运动反解方法[J].农机化研究,2016,(3):37-41,46,6.基金项目
国家自然科学基金项目（31171457，51175189）；广东省教育部产学研结合项目（2012B091000167）；广西高校科学技术研究项目（KY2015YB304）；贺州学院博士科研启动基金项目 （）
