摘要
针对具有移动关节的7自由度机械臂逆运动学求解困难的问题,提出了一种基于改进人工蜂群算法的逆运动学求解方法。首先根据冗余机械臂的物理结构简化出几何模型,利用D-H法建立运动学模型,由坐标系变换得到正运动学的解。由于该冗余机械臂不满足Pieper准则,难以用传统方法求得封闭解;因此采用改进人工蜂群智能算法,利用位置误差与姿态误差的标准差作为目标函数,求取逆运动学的最优解,并利用Matlab编程进行仿真验证,仿真结果表明该方法准确有效,为具有移动关节的冗余机械臂逆运动学的求解提供了一种新的途径。
A difficult problem for solving the inverse kinematics of a 7-DOF manipulator with prismatic joints,a method based on improved artificial bee colony algorithm is proposed for solving redundant manipulator inverse kinematics.Firstly,the model is simplified based on the physical structure of the redundant manipulator.The kinematic model is established by the D-H method,and the solution of the forward kinematics is obtained by the coordinate system transformation.This arm is not suitable for the Pieper criterion.It is difficult to obtain a closed solution by the traditional method,so the improved artificial bee colony algorithm is adopted.Using the standard deviation of position error and attitude error as the objective function,the optimal solution of inverse kinematics is obtained.The simulation results are verified by matlab.The simulation results show that the method is accurate and effective,and it provides a new way to solve the inverse kinematics of redundant mechanical arms with prismatic joints.
作者
李娜托
LI Na-tuo(State key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,China)
出处
《组合机床与自动化加工技术》
北大核心
2020年第3期37-40,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家重点研发计划(2018YFB1304600)。
关键词
机器臂
逆运动学
人工蜂群算法
mechanical arm
inverse kinematics
artificial bee colony algorithm
