多智能体的机器人逆运动学算法研究

Robot inverse kinematics algorithm based on multi-agent system

提出了一种基于多智能体的逆运动学算法,算法采用多个关节智能体协同进行串行和并行运算求解,适用于绝大多数关节机器人,不受关节形状和关节数目的限制。

This paper presents an inverse kinematics algorithm based on multi-agent system. A number of joint agents are used to solve the inverse kinematics problem by serial and parallel collaborative computing. This algorithm applies to the vast majority of robots, no matter of the shape or the number of joints.