计算机工程与应用2017，Vol.53Issue(22)：150-156,7.DOI:10.3778/j.issn.1002-8331.1607-0007
基于遗传算法的机械臂逆运动学问题解决方案
Solution based on genetic algorithm for inverse problem of manipulator kinematics
张熙峰 1田景文1
作者信息
- 1. 北京联合大学 信息学院,北京 100101
- 折叠
摘要
Abstract
In this paper, genetic algorithm is applied to the inverse problem of manipulator kinematics and the population is defined on the manipulator joints path level. The initialization operator, crossover operator and mutation operator of the algorithm are implemented by continuous function. The algorithm uses only the phenotype data presentation, which over-comes the conventional genetic algorithm frequently carrying out coding and decoding operations in the data between the genotype and phenotype. With the conventional genetic algorithm carried on the contrast analysis, it is observed that the proposed method can avoid the disadvantage of the conventional genetic algorithm having multiple switching points for solving the inverse kinematics problem, obtain a smoother joint angle trajectory, shorten the convergence time of the algo-rithm, and the Cartesian trajectory generated has higher accuracy.关键词
遗传算法/工业机械臂/运动学逆问题Key words
genetic algorithm/industrial manipulator/inverse kinematic分类
信息技术与安全科学引用本文复制引用
张熙峰,田景文..基于遗传算法的机械臂逆运动学问题解决方案[J].计算机工程与应用,2017,53(22):150-156,7.
