现代制造工程Issue(9)：53-59,7.DOI:10.16731/j.cnki.1671-3133.2025.09.007
基于DRMPSO的绳驱冗余机械臂逆运动学求解与运动规划
DRMPSO-based inverse kinematics solution and motion planning for cable-driven redundant manipulator
摘要
Abstract
In order to solve the inverse kinematics solving problem of the cable-driven redundant manipulator,the particle swarm algorithm was improved based on the strategies of chaotic mapping and inverse learning,and sub-population particles as well as the dynamic adjustment strategy of the population size were introduced to propose a Dynamic Reorganization Multi-swarm Particle Swarm Optimization(DRMPSO)algorithm with chaotic initialization.The kinematic model of the cable-driven redundant manipu-lator was established,and the fitness function with the minimum position error and the minimum energy consumption at the end of the manipulator was constructed.By comparing with other algorithms for the inverse kinematics of the manipulator,the proposed dynamic reorganization multi-swarm particle swarm algorithm has obvious advantages in both solution accuracy and stability.Fi-nally,the dynamic reorganization multi-swarm particle swarm algorithm was used in the motion planning of the robotic arm,and the simulation results show that the dynamic reorganization multi-swarm particle swarm algorithm can ensure the continuity of the attitude while the robotic arm reaches the end position,and the robotic arm motion process is smooth.关键词
绳驱冗余机械臂/逆运动学/粒子群优化算法/混沌映射Key words
cable-driven redundant manipulator/inverse kinematics/particle swarm optimization algorithm/chaotic mapping分类
信息技术与安全科学引用本文复制引用
刘洋,李申,刘飞,宋小刚..基于DRMPSO的绳驱冗余机械臂逆运动学求解与运动规划[J].现代制造工程,2025,(9):53-59,7.基金项目
广东省教育厅科研项目(2023KTSCX317) （2023KTSCX317）
深圳职业技术大学重点科研项目(6023310005K) （6023310005K）
