摘要
为了解决七轴机器人逆运动学求解较难、精度较低的问题,提出一种基于数值迭代法与粒子群优化算法相结合的方法求解。对机器手模型及逆运动学位姿函数进行了研究,利用数值迭代法进行机器手逆解的初步最优角度解,在此基础上缩小搜索范围利用粒子群算法进行二次优化搜索计算,减小数值迭代过程中产生的累积误差,仿真结果表明机器手的位姿精度大大提高,位姿误差大大降低,轨迹模拟过程中机器手运动旋转角度更加平滑,提高了运动的稳定性,减小了机械臂结构的冲击抖动。
In order to solve the inverse kinematics problem of seven-axis robot,a method based on the combination of numerical solution iteration method and particle swarm optimization algorithm is proposed.The machine hand posture function model and inverse movement degree was studied,using numerical iteration method to machine hand preliminary optimal Angle of inverse solution,on the basis of the narrow your search using the quadratic optimization calculation of particle swarm optimization(pso),reduce the accumulative errors occurring in the process of iteration method,the simulation results show that the position of machine hand greatly improve the accuracy,position error is greatly reduced,rotation Angle machine hand motion trajectory simulation process more smooth and improve the stability of movement,reduces the impact.
作者
杨康
熊瑞平
潘楚光
卢文翔
徐毅松
YANG Kang;XIONG Rui-ping;PAN Chu-guang;LU Wen-xiang;XU Yi-song(School of Mechanical Engineering,Sichuan University,Chengdu 610065,China)
出处
《组合机床与自动化加工技术》
北大核心
2022年第2期29-32,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
四川省科技厅重点研发项目(2020YFG0119)
四川省智能制造与机器人重大专项课题(2019ZDZX0019)
泸州市人民政府-四川大学市校战略合作科技创新研发项目(2020CDLZ-8)。
