摘要
首次给出了基于PSO的冗余机械手逆解问题研究,即以第二指标整体可操作性为目标函数、关节点作为PSO的粒子进行迭代优化,以最优结果确定逆解。针对避免碰撞问题,根据目标物和机械手各关节之间的距离定义阶跃避障参数。通过加入阶跃避障参数,更新整体可操作性指标成为一个新的综合性指标,并使用同样的PSO方法优化这个新指标去解决逆解问题。并将该方法应用于三维空间中的6R机械手,且分析研究了一些参数对PSO性能的影响。仿真结果验证了该方法的简单性和有效性。
The paper firstly proposed an approach for the inverse solution of the redundant manipulator based on PSO.The whole maneuverability of the second index serves as the objective function and the joint serves as PSO particle to carry out iterative optimization,then to determine the inverse solution by the optimal results.Aiming at collision avoidance,the step avoidance parameters are defined according to the distance between target and each joint of manipulator.By adding step avoidance parameters,the whole maneuverability index is renewed as a new composite index,and the same PSO method is used to optimize the new index so as to finish the inverse solution.The approach is applied to a 6R manipulator in 3D space and the impact of some parameters on PSO performance is analyzed.The simulation results verify the simplicity and effectiveness of the approach.
出处
《矿山机械》
北大核心
2011年第7期120-124,共5页
Mining & Processing Equipment
基金
国家自然科学基金资助项目(61005089)
关键词
冗余机械手
逆解
PSO
可操作性
避撞
redundant manipulator
inverse solution
PSO
maneuverability
collision avoidance
