机械科学与技术2024，Vol.43Issue(6)：934-942,9.DOI:10.13433/j.cnki.1003-8728.20220296
一种用于冗余机械臂解析逆运动学的多目标优化方法
A Multi-objective Optimization Method for Solving the Analytical Inverse Kinematics of Redundant Manipulator
摘要
Abstract
In order to realize the intelligent motion control of multi-DOF(degree of freedom)boom of construction machinery,combined with the parametric joint method and MOEA/D(Multi-objective evolutionary algorithm based on decomposition),an IM-IK algorithm(Improved MOEA/D-inverse kinematics)is proposed to solve the inverse kinematics problem of redundant manipulator in this paper.The algorithm adds an adaptive interval search strategy to the MOEA/D algorithm framework to improve the local search ability and solution speed of the algorithm.IM-IK algorithm is applied to an 8-DOF redundant manipulator,and compared with NSGA-II(Nondominated sorting genetic algorithm II),MOEA/D and T-IK algorithms.All test indexes prove that IM-IK algorithm has better comprehensive performance than other algorithms in dealing with the inverse kinematics of redundant manipulator,and can meet the position and orientation accuracy requirements of manipulator's end effector,it can also ensure the joints motion continuity of the manipulator and effectively avoids the joints limit.关键词
冗余机械臂/逆运动学/多目标优化/运动规划Key words
redundant manipulator/inverse kinematics/multi-objective optimization/motion planning分类
信息技术与安全科学引用本文复制引用
邝逸灵,吴迪,后国炜,王清锋,谢斌..一种用于冗余机械臂解析逆运动学的多目标优化方法[J].机械科学与技术,2024,43(6):934-942,9.基金项目
湖南省重点研发计划(2022GK2059) （2022GK2059）
