论文部分内容阅读
针对机械手逆解问题,首次给出了粒子群算法优化机械手的方法,以优化结果确定逆解。其次定义了机械手的危险度概念,并将多目标粒子群算法应用于带有危险源和障碍物环境中的冗余机械手逆运动学研究。相比传统方法,该多目标优化方法不仅确定了冗余机械手的最终形状,而且能够使其成功避障,满足避障可操作、危险度和功率最省或更多的多目标要求。相比多目标遗传算法的仿真结果,该方法可以得到更理想的性能指标,通过进一步的3个指标试验仿真,证明了该方法的正确性和有效性。
Aiming at the inverse problem of manipulator, the method of particle swarm optimization for robot manipulator is given for the first time, and the inverse solution is determined by optimization results. Secondly, the concept of risk of manipulator is defined, and the multi-objective particle swarm optimization algorithm is applied to the study of inverse kinematics of redundant manipulator with dangerous source and obstacle environment. Compared with the traditional method, the multi-objective optimization method not only determines the final shape of the redundant robot, but also enables it to successfully obstacle avoidance to meet the multi-objective requirements of obstacle avoidance operational, risk and power saving or more. Compared with the simulation results of multi-objective genetic algorithm, this method can obtain better performance index, and through further three indicators test simulation, it proves the correctness and effectiveness of the method.