遗传算法在操作力问题中的应用

APPLYING GENETIC ALGORITHM TO THE PROBLEM OF OPERATION FORCE OF PARALLEL MANIPULATORS

本文首次提出并行机器人工作空间的操作力问题 ;并针对操作力问题的求解特点 ,提出优化模型 ,将遗传算法用于求解中 ,得到保守意义下杆的最大出力 ,算例证明收敛速度很快 ,说明将遗传算法用于这个问题中是一个很有效的手段 .

This paper firstly presents the problem of operation force of parallel manipulators in the workspace design. An optimum model is built according to the characteristics of the solution to problem of the operation force. Applying GA to the problem, we get the conservatively maximum operation force. It shows that the rate of convergence is high by an example, and indicates that the method is effective.