随车吊机械臂运动学建模及逆运动学求解

Kinematics modeling and inverse kinematics solution for an onboard craning manipulator

根据随车吊机械臂各关节的运动特点,详细分析机械臂的运动学模型,采用齐次变换矩阵推导出系统的正运动学方程。针对随车吊机械臂逆运动学存在多解的问题,提出了一种基于改进收缩扩张因子的量子粒子群优化算法,并在算法中加入混沌搜索抑制"早熟"问题。仿真结果验证了机械臂逆解计算的有效性。

According the motion characteristics of each point in an onboard craning manipulator,we analyze the kinematics model of the manipulator and deduces the forward kinematics equation with via homogeneous transformation.To solve manipulator inverse kinematics problems,aquantum particle swarm optimization（QPSO）algorithm is proposed based on adaptive contraction-expansion coefficient.The algorithm is improved by adding chaos search to check the premature convergence.Simulation results verify the algorithm.