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介绍了一种新型自重构机器人系统,研究了基于旋量理论的自重构机器人正、逆运动学算法。在分析M2SBot机器人模块拓扑结构的基础上,建立描述自重构机器人拓扑构型的三元组矩阵;利用拓扑结构信息和模块坐标系间的齐次变换,获得各个模块的运动旋量并自动生成自重构机器人正运动学方程。采用遗传算法求运动学的逆解,在传统遗传算法的基础上提出了“移民”策略和局部优化的改进方案。最后,以双支链构型为例,给出了正运动学方程自动生成的具体步骤,并在MATLAB平台上进行逆运动学仿真,验证了改进遗传算法的有效性。
A new type of self-reconfigurable robot system is introduced. The algorithm of positive and inverse kinematics of self-reconfigurable robot based on spin theory is studied. Based on the analysis of the topological structure of M2SBot robot module, a three-tuple matrix describing the topological configuration of self-reconfigurable robots is established. Using the homogeneous transformation between topological information and module coordinate system, the motion spin of each module is obtained and automatically generated Self-reconfigurable robot positive kinematics equation The genetic algorithm is used to find the inverse of kinematics. Based on the traditional genetic algorithm, an improved scheme of “immigration” strategy and local optimization is proposed. Finally, taking the double-branched configuration as an example, the specific steps of automatic generation of positive kinematics equations are given. The inverse kinematics simulation is carried out on the MATLAB platform to verify the effectiveness of the improved genetic algorithm.