PUMA机器人逆运动模拟退火粒子群求解方法

Solving PUMA robot inverse kinematics based on simulated annealing particle swarm optimization

机器人逆运动问题随着运动关节的增多而越来越复杂,要建立逆运动通用的解析算法相当困难。提出利用模拟退火粒子群优化算法在解空间的搜索能力,直接从正向运动方程出发求解机器人关节变量的方法,讨论了目标函数的建立方式及算法实现步骤。实验分析该方法在位置和姿态方面的求解精度,并证实了算法的有效性。

With the increase of joint number,inverse kinematics analysis of robot becomes more complex.So to establish a com- mon analytic algorithm of inverse kinematics is very difficuh.Using simulated annealing particle swarm optimization algorithm to get the solution of the robot joint variables directly from the equations of kinematics is proposed.The method to establish objec- tive function and algorithm steps is discussed in this paper.Experimental results demonstrate the accuracy of the proposed algorithm both in position and attitude.