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首次给出了基于PSO的冗余机械手逆解问题研究,即以第二指标整体可操作性为目标函数、关节点作为PSO的粒子进行迭代优化,以最优结果确定逆解。针对避免碰撞问题,根据目标物和机械手各关节之间的距离定义阶跃避障参数。通过加入阶跃避障参数,更新整体可操作性指标成为一个新的综合性指标,并使用同样的PSO方法优化这个新指标去解决逆解问题。并将该方法应用于三维空间中的6R机械手,且分析研究了一些参数对PSO性能的影响。仿真结果验证了该方法的简单性和有效性。
For the first time, the research on the inverse problem of redundant manipulators based on PSO is given. That is to say, the whole operability of the second index is taken as the objective function, and the joint points are iteratively optimized as particles of the PSO to determine the inverse solution with the optimal result. To avoid the collision problem, step obstacle avoidance parameters are defined according to the distance between the target and each joint of manipulator. By adding step-avoidance parameters, updating the overall operability index becomes a new comprehensive index and using the same PSO method to optimize this new index to solve the inverse problem. The method was applied to 6R robot in three-dimensional space, and the influence of some parameters on the performance of PSO was analyzed. Simulation results verify the simplicity and effectiveness of this method.