计算机工程与应用2019，Vol.55Issue(14)：215-220,6.DOI:10.3778/j.issn.1002-8331.1804-0185
自适应粒子群算法求冗余机械臂逆运动学解
Self-Adaptive Particle Swarm Optimization Algorithm for Solving Inverse Kinematics Problem of Redundant Manipulator
摘要
Abstract
The inverse kinematics problem of redundant manipulator can be conversed as equivalent minimization prob-lem based on the positive kinematics equations, and the minimization problem can be solved using an self-adaptive parti-cle swarm optimization algorithm(SAEPSO). In order to keep the vitality of the particle swarm, the ejector operation is used in the algorithm. When the particle satisfies the self-adaptive discrimination function introduced in the algorithm, it will be ejected in probability to the faraway area from the current position. To cooperate with the ejector operation, a new method of judging the merits of particles is proposed, which makes the particle can be ejected out of the feasible region. It is revealed in numerical experiments that the algorithm possesses relatively strong global search ability and fast search speed, and is thus applicable to solve the inverse kinematics problem of redundant manipulator.关键词
冗余机械臂/逆运动学/粒子群算法/自适应判别函数/弹射Key words
redundant manipulator/inverse kinematics/particle swarm optimization algorithm/self-adaptive discrimina-tion function/ejector分类
信息技术与安全科学引用本文复制引用
朱经纬,方虎生,邵发明,蒋成明..自适应粒子群算法求冗余机械臂逆运动学解[J].计算机工程与应用,2019,55(14):215-220,6.基金项目
国家自然科学基金(No.61671470) （No.61671470）
江苏省自然科学基金(No.BK20161470). （No.BK20161470）
