起重运输机械Issue(12)：51-57,7.
基于改进蜂群算法的拱架台车机械臂逆解
摘要
Abstract
The manipulator of arch trolley is a redundant manipulator with seven degrees of freedom and moving joints,so it is difficult to solve the inverse kinematics.Therefore,a chaotic Levy artificial bee colony algorithm(CFABC)based on Levy flight was developed.Firstly,the D-H(Denavit-Hartenberg)method was used to establish a kinematics model of the manipulator,and the objective function of the terminal pose error was established through the solution of the forward kinematics to obtain the optimal solution of the inverse kinematics.Then,chaos mapping was introduced to initialize the honey source,and Levy flight change search strategy was introduced to improve the convergence speed of the algorithm.Finally,the simulation was verified by Matlab programming.A new way to solve the inverse kinematics of the manipulator of the arch trolley is provided.The results show that compared with the traditional bee colony algorithm and chaotic bee colony algorithm,this algorithm has fast solution speed and good stability,thus proving the feasibility of this algorithm.关键词
逆运动学/混沌蜂群算法/Levy飞行/拱架台车机器臂Key words
inverse kinematics/chaotic bee colony algorithm/Levy flight/arch trolley manipulator分类
信息技术与安全科学引用本文复制引用
陈鹤天,程文明,杜润,张志鹏..基于改进蜂群算法的拱架台车机械臂逆解[J].起重运输机械,2024,(12):51-57,7.基金项目
中车十四五科技重大专项科研课题(2021CHZ010-3)、四川省重点研发项目(2022YFG0241) （2021CHZ010-3）
