机器人2016，Vol.38Issue(6)：703-709,7.DOI:10.13973/j.cnki.robot.2016.0704
冗余机器人逆运动学解流形的多目标优化
Multi-objective Optimization for Inverse Kinematics Solution Manifolds of Redundant Robots
摘要
Abstract
A multi-objective optimization algorithm based on manifolds is proposed to solve the shortcomings of large operand and poor real-time performance of the interpolation optimization algorithm for the inverse kinematics solutions of redundant robots. The solution space of inverse kinematics of the redundant robot is regarded as a smooth manifold, the dimensionality reduction analysis is conducted in the position workspace manifolds and posture workspace manifolds. The optimal inverse solutions of the redundant robot are obtained according to the proposed optimization objective function. The optimal performance indexes may be contradictory in multi-objective optimization of the redundant robot, and thus the weights should be added to each index according to their priorities to realize global optimization of the redundant robot. Generally, the optimal inverse solution is not a single solution, but an optimal solution manifold. Finally, the rationality of the proposed method is demonstrated by inverse kinematics simulation with the plane S-shaped inlet.关键词
冗余/优化/流形/逆运动学/进气道Key words
redundant/optimization/manifold/inverse kinematics/inlet分类
信息技术与安全科学引用本文复制引用
徐朋,赵东标,程锦翔,应明峰,李奎,徐铠..冗余机器人逆运动学解流形的多目标优化[J].机器人,2016,38(6):703-709,7.基金项目
国家自然科学基金（51175261）；国家973计划（2014CB046501）；高等学校博士学科点专项科研基金（20123218110020）． （）
