基于免疫遗传算法的冗余空间机械臂设计

Redundancy Manipulator Optimization Design Based on Genetic Algorithm of Immunity

空间机械臂的工作任务特殊,工作环境极其恶劣,因而提高空间机械臂的可靠性显得尤为重要。冗余是提高机械臂可靠性的重要方法,寻求实用的故障容错冗余机械臂设计方法是论文研究的核心内容。冗余机械臂设计是多参数、多模态、非线性设计问题,用传统的优化方法难以解决。论文模拟抗体搜索机制,结合免疫网络理论,用抗体表示函数优化解的可能模式,通过克隆算子完成全局搜索,利用B细胞网络保持抗体的多样性。通过实际设计表明,算法是可行有效的。

The task of space manipulator is special,and its work condition is very foul.So it is very important to improve the reliability of space manipulator.Redundancy is a kind of technique to do it.To find effective fault tolerant redundancy manipulator design technique is the central issue.Redundancy manipulator design deals with excessive parameters,multi-modes,and non-linearity.The conventional optimization method is helpless.By simulating the antibody search mechanlsm,and combining the immune network theory,a new immune learning algorithm for multi-mode optimization has been presented.In this algorithm,antibodies represents the possible optimal solutions.Cloning operator has been used to search the global optimum.B cell network has been formed to maintain the diverse antibodies.Testing results show that the algorithm is effectiveness.