摘要
并联机器人运动学正解问题由于涉及到求解非线性方程组问题而不易解决。在对粒子群算法研究的基础上,对其进行改进,以提高全局搜索能力。同时结合外点罚函数法,对并联机器人运动学正解问题重新进行建模,以便于使用粒子群算法进行求解。结合二者形成新的正解求解方法。最后使用该方法,以一台并联机器人为对象进行研究,获得了其运动学正解。
It＇ s difficult to solve the direct kinematics of a parallel manipulator （PM）, which will deal with nonlinear function set. The panicle swarm optimization （PSO） algorithm is improved to get better global search ability. And the model about the PM＇ s direct kinematics is rebuilt with the exterior point penalty function method so as to adapt to the PSO. So a new method to solve the direct kinematics problem is obtained based on them. Finally a PM is introduced as an instance, and the direct kinematics problem of it is solved with the method.
出处
《机械设计与制造》
北大核心
2006年第11期116-118,共3页
Machinery Design & Manufacture
基金
国家自然科学基金(50475055)
关键词
粒子群算法
运动学正解
并联机器人
罚函数
Particle swarm optimization
Direct kinematics
Parallel manipulators
penalty function
