机械制造与自动化2023，Vol.52Issue(6)：151-154,4.DOI:10.19344/j.cnki.issn1671-5276.2023.06.038
基于POE和CSSA的冗余机械臂逆运动学求解方法
Inverse Kinematics Solution Method of Redundant Manipulator Based on POE and CSSA
摘要
Abstract
In order to improve the solution accuracy of the inverse kinematics of the 7-DOF redundant manipulator,an inverse kinematics solution method based on the exponential product of the screw and the chaotic sparrow search algorithm is proposed.A 7-DOF humanoid manipulator is modeled,and the forward kinematics equation of the manipulator is established by the formula kmethod of screw-exponential product,which is verified in MATLAB.The fitness function is constructed according to the position vector and proximity vector of the manipulator,and the inverse solution of the redundant manipulator is solved by the chaotic sparrow search algorithm.The inverse solution algorithm program is written in MATLAB software,the obtained joint values is substituted into the established forward kinematics model,and the error between the expected pose and the actual pose of the redundant manipulator end is calculated.关键词
冗余机械臂/指数积/麻雀搜索算法/逆运动学Key words
redundant manipulators/POE/CSSA/inverse kinematics分类
信息技术与安全科学引用本文复制引用
黄振宇,姜勇..基于POE和CSSA的冗余机械臂逆运动学求解方法[J].机械制造与自动化,2023,52(6):151-154,4.基金项目
国家自然科学基金项目(52075531) （52075531）
