基于改进自适应小生境遗传算法的机械臂逆运动学求解
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摘要
逆运动学求解对机械臂位姿控制和轨迹规划具有重要意义,针对逆运动学求解存在多解及通用性差的问题,提出了一种基于改进自适应小生境遗传算法的逆运动学求解算法。适应度函数融合位姿误差和"最柔顺"原则,不存在多解及奇异解问题;引入减法聚类分析,提升算法通用性;对遗传算法进行改进,提升了算法收敛速度及精度。利用六自由度机械臂进行仿真实验,结果表明该算法收敛快、精度高,可求得唯一解。
Solving the inverse kinematics for a manipulator is of great importance to the manipulator′s pose control and trajectory planning. Aiming at the poor generality and difficulty of finding an optimal solution from the multiple inverse kinematics solutions, a novel solution approach based on the modified adaptive niche genetic algorithm is proposed in this study. The principle of 'most suppleness' is integrated into the fitness function such that the only optimal solution can be found; The clustering is introduced into the approach for enhancing the generality and the genetic algorithm is improved for increasing the convergence speed and accuracy. Simulation results based on a six degree of freedom manipulator show that the proposed approach is effective and high precision, and can find the optimal solution.
Solving the inverse kinematics for a manipulator is of great importance to the manipulator′s pose control and trajectory planning. Aiming at the poor generality and difficulty of finding an optimal solution from the multiple inverse kinematics solutions, a novel solution approach based on the modified adaptive niche genetic algorithm is proposed in this study. The principle of 'most suppleness' is integrated into the fitness function such that the only optimal solution can be found; The clustering is introduced into the approach for enhancing the generality and the genetic algorithm is improved for increasing the convergence speed and accuracy. Simulation results based on a six degree of freedom manipulator show that the proposed approach is effective and high precision, and can find the optimal solution.
引文
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[6] 徐文福,张金涛,闫磊,等.偏置式冗余空间机械臂逆运动学求解的参数化方法[J].宇航学报,2015,36(1):33-39XU Wenfu,ZHANG Jingtao,YAN Li,et al.Parameterized Inverse Kinematics Resolution Method for a Redundant Space Manipulator with Link Offset[J].Journal of Astronautics,2015,36(1):33-39 (in Chinese)
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[10] YUAN T,FENG Y.A New Algorithm for Solving Inverse Kinematics of Robot Based on BP and RBF Neural Network[C]//2014 Fourth International Conference on Instrumentation and Measurement,Computer,Communication and Control,2014:418-421
[11] ?AVDAR T,MOHAMMAD M,MILANI R A.A New Heuristic Approach for Inverse Kinematics of Robot Arms[J].Advanced Science Letters,2013,19(1):329-333
[12] HUANG H C,XU S S D,HSU H S.Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-Dof Humanoid Robot Arms[J].Mathematical Problems in Engineering,2014(1):1-9
[13] TABANDEH S,MELEK W W,CLARK C M.An Adaptive Niching Genetic Algorithm Approach for Generating Multiple Solutions of Serial Manipulator Inverse Kinematics with Applications to Modular Robots[J].Robotica,2010,28(4):493-507
[14] SHABBIR F,OMENZETTER P.Model Updating Using Genetic Algorithms with Sequential Niche Technique[J].Engineering Structures,2016,120:166-182
[15] YUAN T,FENG Y.A New Algorithm for Solving Inverse Kinematics of Robot Based on BP and RBF Neural Network[C]//2014 Fourth International Conference on Instrumentation and Measurement,Computer,Communication and Control,2014:418-421
[2] KUCUK S,BINGUL Z.Inverse Kinematics Solutions for Industrial Robot Manipulators with Offset Wrists[J].Applied Mathematical Modelling,2014,38(7/8):1983-1999
[3] LIU H,ZHOU W,LAI X,et al.An Efficient Inverse Kinematic Algorithm for a Puma560-Structured Robot Manipulator[J].International Journal of Advanced Robotic Systems,2013,10(5):236
[4] PFURNER M.Closed Form Inverse Kinematics Solution for a Redundant Anthropomorphic Robot Arm[J].Computer Aided Geometric Design,2016,47:163-171
[5] 魏延辉,韩寒,于园园,等.构形平面方法求解冗余机械臂逆运动学[J].哈尔滨工程大学学报,2016,37(8):1096-1102WEI Yanhui,HAN Hai,YU Yuanyuan,et al.Solving Inverse Kinematics for Redundant Manipulator Using Configuration Plane Method[J].Journal of Harbin Engineering University,2016,37(8):1096-1102 (in Chinese)
[6] 徐文福,张金涛,闫磊,等.偏置式冗余空间机械臂逆运动学求解的参数化方法[J].宇航学报,2015,36(1):33-39XU Wenfu,ZHANG Jingtao,YAN Li,et al.Parameterized Inverse Kinematics Resolution Method for a Redundant Space Manipulator with Link Offset[J].Journal of Astronautics,2015,36(1):33-39 (in Chinese)
[7] T?RDAL S S,HOVLAND G,TYAPIN I.Efficient Implementation of Inverse Kinematics on a 6-DOF Industrial Robot Using Conformal Geometric Algebra[J].Advances in Applied Clifford Algebras,2017,27(3):2067-2082
[8] ALMUSAWI A R J,DüLGER L C,KAPUCU S.A New Artificial Neural Network Approach in Solving Inverse Kinematics of Robotic Arm(Denso VP6242)[J].Computational intelligence and neuroscience,2016,2016
[9] K?KER R.A Neuro-Simulated Annealing Approach to the Inverse Kinematics Solution of Redundant Robotic Manipulators[J].Engineering with Computers,2013,29(4):507-515
[10] YUAN T,FENG Y.A New Algorithm for Solving Inverse Kinematics of Robot Based on BP and RBF Neural Network[C]//2014 Fourth International Conference on Instrumentation and Measurement,Computer,Communication and Control,2014:418-421
[11] ?AVDAR T,MOHAMMAD M,MILANI R A.A New Heuristic Approach for Inverse Kinematics of Robot Arms[J].Advanced Science Letters,2013,19(1):329-333
[12] HUANG H C,XU S S D,HSU H S.Hybrid Taguchi DNA Swarm Intelligence for Optimal Inverse Kinematics Redundancy Resolution of Six-Dof Humanoid Robot Arms[J].Mathematical Problems in Engineering,2014(1):1-9
[13] TABANDEH S,MELEK W W,CLARK C M.An Adaptive Niching Genetic Algorithm Approach for Generating Multiple Solutions of Serial Manipulator Inverse Kinematics with Applications to Modular Robots[J].Robotica,2010,28(4):493-507
[14] SHABBIR F,OMENZETTER P.Model Updating Using Genetic Algorithms with Sequential Niche Technique[J].Engineering Structures,2016,120:166-182
[15] YUAN T,FENG Y.A New Algorithm for Solving Inverse Kinematics of Robot Based on BP and RBF Neural Network[C]//2014 Fourth International Conference on Instrumentation and Measurement,Computer,Communication and Control,2014:418-421