多关节机器人逆运动的萤火虫算法解法

Solving Multi-joint Robot Inverse Kinematics Based on Firefly Algorithm

逆运动最优解的求解是机器人运动学中最重要的一环,鉴于要得到逆运动最优解的解析解必须满足特殊的条件,本文介绍利用改进萤火虫算法求解串联多关节机器人逆解的数值解法。本方法不受机器人结构的限制,能够找出所有的逆解并选择最合适的一个。仿真证明,该算法能够有效的应用到逆解的求解中,并且能够达到足够的精度。

The optimization of the inverse kinematics of robots is the most important part of robot kinematics. In view of the fact that to get the analytic solutions of the inverse kinematics of robots must meet special conditions, this paper used improved firefly algorithm to get the optimization of inverse kinematics without any of special conditions. This method is not affected by the structure of the robot. All the inverse solutions can be identified and the most appropriate one can be selected. Simulation results show that, the algorithm can be effectively applied to the robot inverse kinematics, and is able to achieve sufficient accuracy.